[1]李向博,熊 鸣,王丽婕.Chan-AUKF 融合算法在三维定位中的应用[J].计算机技术与发展,2022,32(06):150-155.[doi:10. 3969 / j. issn. 1673-629X. 2022. 06. 025]
　LI Xiang-bo,XIONG Ming,WANG Li-jie.Application of Chan-AUKF Fusion Algorithm in 3D Localization[J].,2022,32(06):150-155.[doi:10. 3969 / j. issn. 1673-629X. 2022. 06. 025]
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Chan-AUKF 融合算法在三维定位中的应用()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
32
期数:
2022年06期
页码:
150-155
栏目:
应用前沿与综合
出版日期:
2022-06-10

文章信息/Info

Title:
Application of Chan-AUKF Fusion Algorithm in 3D Localization
文章编号:
1673-629X(2022)06-0150-06
作者:
李向博; 熊 鸣; 王丽婕
北京信息科技大学 高动态导航技术北京市重点实验室,北京 100192
Author(s):
LI Xiang-bo; XIONG Ming; WANG Li-jie
Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science and Technology University,Beijing 100192,China
关键词:
超宽带; Chan 算法; 无迹卡尔曼滤波; Chan-AUKF 算法; 状态误差补偿函数
Keywords:
UWB; Chan algorithm; UKF; Chan-AUKF algorithm; state error compensation function
分类号:
TP391. 41;TN925
DOI:
10. 3969 / j. issn. 1673-629X. 2022. 06. 025
摘要:
针对超宽带( ultra-wideband,UWB) 定位技术在三维定位应用中存在的定位精度低,定位结果易受复杂环境影响,存在固定偏差的问题,基于 Chan 算法和简化无迹卡尔曼滤波( unscented Kalman filter,UKF) 算法构建定位系统状态误差补偿函数对简化 UKF 算法进行自适应补偿,提出 Chan-自适应无迹卡尔曼滤波( Chan-adaptive unscented Kalman filter,Chan-AUKF) 三维定位算法。 根据 Chan 算法和简化 UKF 算法解算出的标签三维坐标构建定位系统状态误差补偿函数,对简化UKF 算法自适应补偿的同时,将此三维坐标作为 Chan-AUKF 算法的初值对标签三维坐标的精确值进行估计。 实验结果表明,Chan-AUKF 算法在性能上优于 Chan 算法、UKF 算法和 Chan-UKF 算法,在保证稳定性的同时,能够有效地提高定位精度。
Abstract:
Aiming at the problems of low positioning accuracy,easy to be affected by complex environment and fixed deviation of ultra-wideband ( UWB) positioning technology in 3D positioning application,the state error compensation function of positioning system isconstructed to compensate the simplified UKF algorithm based on Chan algorithm and simplified UKF algorithm,and a Chan-adaptiveunscented Kalman filter ( Chan-AUKF) 3D positioning algorithm is proposed. The positioning system state error compensation functionis built according to the label three - dimensional coordinates calculated by Chan algorithm and simplified UKF algorithm. While thesimplified UKF algorithm adaptively compensates,the three - dimensional coordinates are used as the initial value of the Chan - AUKFalgorithm to estimate the precise three-dimensional coordinates of the label. Experiment shows that the performance of Chan-AUKF algorithm is better than that of CHAN algorithm,UKF algorithm and Chan-UKF algorithm,and it can effectively improve the positioningaccuracy while ensuring the stability.

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更新日期/Last Update: 2022-06-10