基于TDOA的自适应扩展卡尔曼滤波跟踪算法研究
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摘要
论文对UWB中基于扩展卡尔曼滤波的TDOA跟踪定位算法研究。针对EKF算法会随着测量误差增大定位精度降低这一缺点,提出了一种自适应迭代扩展卡尔曼滤波算法(AIEKF),通过仿真对比表明该算法在测距误差增大时,该算法能保持良好的定位精度和收敛速度
This paper studies the TDOA location tracing algorithm based on extended kalman filter in UWB. A kind of AEKF(adaptive iteration extended kalman filter)is proposed based on the disadvantage that the EKF algorithm's positioning accuracy re-duces with the increase of measurement error and the simulation results show that this algorithm can maintain good positioning accu-racy and convergence speed during the increase of the distance-measuring error.
This paper studies the TDOA location tracing algorithm based on extended kalman filter in UWB. A kind of AEKF(adaptive iteration extended kalman filter)is proposed based on the disadvantage that the EKF algorithm's positioning accuracy re-duces with the increase of measurement error and the simulation results show that this algorithm can maintain good positioning accu-racy and convergence speed during the increase of the distance-measuring error.
引文
[1]Oppermann I,Stoica L,Rabbachin A,Shelby Z,Haapola J.UWB wireless sensor networks:UWEN-A practical example[J].IEEECommunications Magazine,2004,42(12):27-32.
[2]Lee JY,Scholtz RA.Ranging in a dense multipath environment using an UWB radio link[J].IEEE Journal on Selected Areas in Communications,2002,20(9):1677-1683.
[3]Chung WC,Ha DS.An accurate ultra wideband(UWB)ranging for precision asset location[C]//In:Proc.of the IEEE Conf.on Ultra Wideband Systems and Technologies.2003:389-393.
[4]Low ZN,Cheong JH,Law CL,Ng WT,Lee YJ.Pulse detection algorithm for line-of-sight(LOS)UWB ranging applications[M].Antennas and Wireless Propagation Letters,2005,4:63-67.
[5]Guvenc I,Sahinoglu Z.Threshold-Based TOA estimation for impulse radio UWB systems[C]//In:Proc.of the IEEE Int’l Conf.On Ultra-Wideband(ICU 2005).Zürich,2005:420-425.
[6]Guvenc I,Sahinoglu Z.Threshold selection for UWB TOAestimation based on kurtosis analysis[J].IEEE Communications Letters,2005,9(12):1025-1027.
[7]Guvenc I,Sahinoglu Z.Multiscale energy products for TOA estimation in IR-UWB systems[C]//In:Proc.of the IEEE Global Telecommunications Conf.(GLOBECOM2005).St.Louis,2005:209-213.
[8]Stoica L,Rabbachin A,Oppermann I.A low-complexity noncoherent IR-UWB transceiver architecture with TOAestimation[J].IEEE Trans.on Microwave Theory and Techniques,2006,54(4):1637-1646.
[9]M.Z.Win,R.A.Scholtz.Characterization of Ultra-wide Bandwidth Wireless Indoor Channels:A Communication-theoretic[J].IEEE Journal on Selected Areas in Communications.2002,20(9):1613-1627.
[10]R.R.J.Cramer,M.Z.Win.Evaluation of an Ultra Wideband Propagation Model[J].IEEE Antennas and Propagation.2002,50(5):561-570.
[11]张丽.超宽带室内精确定位技术研究[D].青岛:中国海洋大学,2012
[12]M.Najar and J.Vidal,Kalman tracking for mobile location in NLOS situations,Proc.IEEE Int.Symp.on Personal,Indoor and Mobile Radio Communication(PIM-RC),Sept.2003:2203-2207
[13]徐定杰,贺瑞,沈锋,等.基于新息协方差的自适应渐消卡尔曼滤波器[J].系统工程与电子技术,2011,33(12):2696-2699.
[14]赵琳.非线性系统滤波理论[M].北京:国防工业出版社,2012.
[2]Lee JY,Scholtz RA.Ranging in a dense multipath environment using an UWB radio link[J].IEEE Journal on Selected Areas in Communications,2002,20(9):1677-1683.
[3]Chung WC,Ha DS.An accurate ultra wideband(UWB)ranging for precision asset location[C]//In:Proc.of the IEEE Conf.on Ultra Wideband Systems and Technologies.2003:389-393.
[4]Low ZN,Cheong JH,Law CL,Ng WT,Lee YJ.Pulse detection algorithm for line-of-sight(LOS)UWB ranging applications[M].Antennas and Wireless Propagation Letters,2005,4:63-67.
[5]Guvenc I,Sahinoglu Z.Threshold-Based TOA estimation for impulse radio UWB systems[C]//In:Proc.of the IEEE Int’l Conf.On Ultra-Wideband(ICU 2005).Zürich,2005:420-425.
[6]Guvenc I,Sahinoglu Z.Threshold selection for UWB TOAestimation based on kurtosis analysis[J].IEEE Communications Letters,2005,9(12):1025-1027.
[7]Guvenc I,Sahinoglu Z.Multiscale energy products for TOA estimation in IR-UWB systems[C]//In:Proc.of the IEEE Global Telecommunications Conf.(GLOBECOM2005).St.Louis,2005:209-213.
[8]Stoica L,Rabbachin A,Oppermann I.A low-complexity noncoherent IR-UWB transceiver architecture with TOAestimation[J].IEEE Trans.on Microwave Theory and Techniques,2006,54(4):1637-1646.
[9]M.Z.Win,R.A.Scholtz.Characterization of Ultra-wide Bandwidth Wireless Indoor Channels:A Communication-theoretic[J].IEEE Journal on Selected Areas in Communications.2002,20(9):1613-1627.
[10]R.R.J.Cramer,M.Z.Win.Evaluation of an Ultra Wideband Propagation Model[J].IEEE Antennas and Propagation.2002,50(5):561-570.
[11]张丽.超宽带室内精确定位技术研究[D].青岛:中国海洋大学,2012
[12]M.Najar and J.Vidal,Kalman tracking for mobile location in NLOS situations,Proc.IEEE Int.Symp.on Personal,Indoor and Mobile Radio Communication(PIM-RC),Sept.2003:2203-2207
[13]徐定杰,贺瑞,沈锋,等.基于新息协方差的自适应渐消卡尔曼滤波器[J].系统工程与电子技术,2011,33(12):2696-2699.
[14]赵琳.非线性系统滤波理论[M].北京:国防工业出版社,2012.