一种基于TOA算法的UWB定位系统方案

一种基于TOA算法的UWB定位系统方案施晓东*(桂林理工大学信息科学与工程学院,广西桂林541004),TOAUWB,,Chan,UWB;TOA;;Chan:TN911.23:A:1009)1033(2009)04)0417)02(TOA),,TOA1TOA1,UWB,UWB,(x,y,z),(x1,y1,z1)(x2,y2,z2)(x3,y3,z3)(xN,yN,zN)D1D2D3DN,,:1TOA(1)t0,N,NE4,IDUWB(2),IDUWB,S(3)N,,,^t1^t2^t3^tN(4)TOA,Chan2ChanChan[1-2],,,,3,i:Di=(xi-x)2+(yi-y)2D2i=(xi-x)2+(yi-y)2=Ki-2xix-2yiy+x2+y2(1):Ki=x2i+y2iDi,1i1,Di,1=c(^ti-^t1)=Di-D1=(xi-x)2-(yi-y)2-(x1-x)2-(y1-y)2(2)c,^ti^t1i1TOA,:D2i=(Di,1+D1)2(3)§:D2i,1+2Di,1D1+D21=Ki-2xix-2yiy+x2+y2(4)i=1,¥:D21=K1-2x1x-2y1y+x2+y2(5)¨©:D2i,1+2Di,1D1=Ki-2xi,1x-2yi,1y-K1(6)4172009年第4期(总第56期)JOURNALOFGUILINCOLLEGEOFAEROSPACETECHNOLOGY信息与电子工程*:(1980)),,,,:(6)xi,1=xi-x1,yi,1=yi-y1ª:xy=-x2,1y2,1x3,1y3,1-1@D2,1D3,1D1+12D22,1-K2+K1D23,1-K3+K1(7)Chan,«¥,i=1,D1,(7)D1,,,,,(8)D1,D1=12(^t1-t0-S)@c(8)¬«(9):xy=-x2,1y2,1x3,1y3,1-1@12^t2-^t1^t3-^t1(^t1-t0-S)c2+(^t2-^t1)2c2-V2,1(^t3-^t1)2c2-V3,1(9)Vi,j=Ki-Kj=(x2i+y2i)-(x2j+y2j)3,,TOA,,(GDOP)[3]10@10m,100,(1,1),(1,2),,,(2,1),(2,2),,,(10,10)1N3,3TOA,ChanTOA[-0.5,0.5]ns,10010002,,Chan,3,,3GDOP,4Chan,3,,TDOA,,[3][1]Y.T.Chan,K.C.Ho.ASimpleandEfficientEstimatorforHyperbolicLocation[J].IEEETrans.OnSignalProcessing,1994,42(8):1905-1915.[2]邓平.蜂窝网络移动台定位技术研究[D].成都:西南交通大学博士学位论文,2005:5-8.[3]范平志,邓平,刘林.蜂窝网无线定位[M].北京:电子工业出版社,2002:49-50.[4]O.H.KwonandH.J.Song,/Localizationthroughmapstitchinginwirelesssensornetworks0,IEEETrans.ParallelDistrib.Syst.,2008,19(1):93-105.[5]L.LiandT.Kunz,/Cooperativenodelocalizationfortacticalwirelesssensornetworks0,Proc.2007MilitaryCommunicationsConference(Milcom2007),Orlando,FL,USA,October2007.[6]WuChangjua,ShengWeihua,ZhangYing.MobileSensorNetworksSelfLocalizationbasedonMulti-dimensionalScaling[A]M2007IEEEInternationalConferenceonRoboticsandAutomation[C].Roma,Italy:IEEE,2007:4038-4043.()4182009年第4期(总第56期)JOURNALOFGUILINCOLLEGEOFAEROSPACETECHNOLOGY施晓东/文