A Novel Ultra-Wideband Double Difference Indoor Positioning Method with Additional Baseline Constraint
نویسندگان
چکیده
Ultra-wideband (UWB) technology is suitable for indoor positioning owing to its high resolution and penetration. However, the current UWB methods not only fail fully analyze errors, but do have ability eliminate gross large random errors. In this article, errors of are analyzed comprehensively, basic function model given. An method based on a double difference with ranging observations proposed realized. method, two rover stations common base station introduced, known baseline length between rovers used as constraint condition quality control. The coordinate estimations constrained by prior posteriori, respectively, weight residuals reduced. Two groups static experiments designed. After adopting plane error one 3.4 cm 2.1 cm, another 3.3 2.0 respectively. precision improved more than 80% compared traditional method. dynamic experiment, coordinates starting ending point obtained basically consistent truth value, results close reference trajectory. experimental show that can systematic improve effectively.
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ژورنال
عنوان ژورنال: ISPRS international journal of geo-information
سال: 2021
ISSN: ['2220-9964']
DOI: https://doi.org/10.3390/ijgi10100634