一种顾及电子元件延迟的超宽带室内定位方法

针对超宽带定位系统中存在多种误差影响定位精度的问题，本文全面分析了超宽带室内定位的误差源，给出了超宽带室内定位基本函数模型，提出了将电子元件延迟这一系统差与三维坐标同时作为参数进行估计，并通过高斯-牛顿迭代算法得到定位结果的方法。试验结果表明，该方法能有效消除位置系统偏差，两组静态试验均以全站仪测量结果作为真值，点位误差分别为4.1、2.3 cm，相较于已有方法分别提高了64%和87%，而动态试验结果更接近于参考轨迹，最大误差小于10 cm。

An ultra wide band indoor positioning method considering electrical delay

Aiming at the problem that many kinds of errors affect the positioning accuracy in UWB positioning system, the errors of UWB indoor positioning are comprehensively analyzed, and the basic function model of UWB indoor positioning is proposed in this paper. The system difference of "electrical delay" and three-dimensional coordinates are regarded as estimated parameters, and the positioning results are obtained by Gauss-Newton iterative algorithm. The experimental results show that the proposed method can effectively eliminate the system deviation. Coordinates measured by the total station are taken as true values in the static experiments, and the positioning errors are 4.1 and 2.3 cm, respectively, which are 64% and 87% higher than that of the existing methods. The dynamic experiment results are closer to the reference trajectory and the maximum error is less than 10 cm.