DWM1000在无人机集群中定位滤波算法的研究
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摘要
为了实现无人机集群的室内相对定位,文章特意研究DecaWave公司生产的DWM1000模块的定位和滤波算法,以确保集群在正常运行状态时获得更稳定的位置坐标信息。首先,确定多种常用的测距定位技术,通过分析与论证,最终确定TOA方式为较为稳定的测距定位方式。其次,由于测距时间会对测距误差产生影响,提出一种SDS-TWR优化测距算法,并进行相关的仿真实验来减小得到的定位数据的误差,另外该算法还可以减小时钟漂移的影响,得到更准确的数据。最后,为了消除稳态定位误差,讨论了RAIM算法剔除故障基站的方法,结合实验与仿真图进行论证,确定误差消除方案的可行性。
In order to realize the relative indoor positioning of UAV cluster, the paper studies the positioning and filtering algorithm of DWM1000 module produced by DecaWave Company to ensure that the cluster can obtain more stable position coordinate information in normal operation. First of all, a variety of common ranging and positioning techniques are determined. Through analysis and argumentation, the TOA method is determined to be a more stable method. Secondly, a SDSTWR optimization ranging algorithm is proposed to reduce the error of positioning data, in order to reduce the influence of clock drift and get more accurate data. Finally, in order to eliminate the steady-state positioning error, the method of eliminating the fault base station by RAIM algorithm is discussed, and the feasibility of the error elimination scheme is determined by combining the experiment and simulation diagram.
In order to realize the relative indoor positioning of UAV cluster, the paper studies the positioning and filtering algorithm of DWM1000 module produced by DecaWave Company to ensure that the cluster can obtain more stable position coordinate information in normal operation. First of all, a variety of common ranging and positioning techniques are determined. Through analysis and argumentation, the TOA method is determined to be a more stable method. Secondly, a SDSTWR optimization ranging algorithm is proposed to reduce the error of positioning data, in order to reduce the influence of clock drift and get more accurate data. Finally, in order to eliminate the steady-state positioning error, the method of eliminating the fault base station by RAIM algorithm is discussed, and the feasibility of the error elimination scheme is determined by combining the experiment and simulation diagram.
引文
[1]张亚森.基于DWM1000的UWB室内定位系统设计[D].哈尔滨:哈尔滨工程大学,2018.
[2]刘琦,沈锋,王锐.基于UWB定位系统硬件平台设计[J].电子科技,2019(10):11-12.
[3]解延春,唐佳,倪荣霈,等.基于DWM1000的超宽带室内定位系统设计[J].数字技术与应用,2016(4):187-190.
[4]俞一鸣,姚远,程学虎.TDOA定位技术和实际应用简介[J].中国无线电,2013(11):57-58.
[5]陶偲.基于UWB的室内SDS-TWR测距算法优化和定位算法融合的研究[D].武汉:华中师范大学,2016.
[2]刘琦,沈锋,王锐.基于UWB定位系统硬件平台设计[J].电子科技,2019(10):11-12.
[3]解延春,唐佳,倪荣霈,等.基于DWM1000的超宽带室内定位系统设计[J].数字技术与应用,2016(4):187-190.
[4]俞一鸣,姚远,程学虎.TDOA定位技术和实际应用简介[J].中国无线电,2013(11):57-58.
[5]陶偲.基于UWB的室内SDS-TWR测距算法优化和定位算法融合的研究[D].武汉:华中师范大学,2016.