电子测量与仪器学报

高健,陆阳,李庆巧,卫星.采用三次通信的TOF与TDOA联合定位算法[J].电子测量与仪器学报,2020,34(3):66-73

采用三次通信的TOF与TDOA联合定位算法

Joint positioning algorithm of TOF and TDOA using three-communication

DOI：

英文关键词:UWB TOF TDOA TOA joint positioning method

基金项目:国家重点研发计划专项（2018YFC0604404, 2016YFC0801804）、中央高校基本科研业务费专项（PA2019GDPK0079）资助

作者	单位
高健	1.合肥工业大学计算机与信息学院
陆阳	1.合肥工业大学计算机与信息学院,2.安全关键工业测控技术教育部工程研究中心
李庆巧	1.合肥工业大学计算机与信息学院
卫星	1.合肥工业大学计算机与信息学院,2.安全关键工业测控技术教育部工程研究中心

Author	Institution
Gao Jian	1.School of Computer Science and Information Engineering, Hefei University of Technology
Lu Yang	1.School of Computer Science and Information Engineering, Hefei University of Technology,2.Engineering Research Center of Safety Critical Industry Measure and Control Technology,Ministry of Education
Li Qingqiao	1.School of Computer Science and Information Engineering, Hefei University of Technology
Wei Xing	1.School of Computer Science and Information Engineering, Hefei University of Technology,2.Engineering Research Center of Safety Critical Industry Measure and Control Technology,Ministry of Education

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中文摘要:

通常基于超宽带（UWB）的定位系统采用的主要技术是TOA和TDOA算法，但是TOA算法定位速度低，TDOA算法定位精度不稳定，这些情况均限制了它们在UWB定位系统中的应用。为了权衡这两种算法在定位速度和精度方面的不足，提出了一种新的TOF与TDOA联合定位算法（CTT）。该算法仅需要3次UWB通信便可测量TDOA算法所需的所有时间差信息和一个TOF距离值，并可以此计算出该定位区域内所有基站与单个标签的距离，定位速度比TOA算法提升至少50%。使用DW1000分别对TOA、TDOA与CTT算法进行定位精度对比，结果表明CTT算法在二维情况下的平均定位误差<20 cm，标准差<10 cm，接近于TOA的精度并解决了TDOA算法精度不稳定的问题。

英文摘要:

The main technologies used in ultra wideband(UWB) based positioning systems are TOA and TDOA. However, the low positioning speed of TOA algorithm and the unstable positioning accuracy of TDOA algorithm limit the development of UWB positioning system. In order to balance the shortcomings of the two algorithms in positioning speed and accuracy, this paper proposes a new TOF and TDOA joint positioning algorithm combination of TDOA and TOF(CTT). The algorithm only needs three times of UWB communication to measure all time difference information and a TOF distance value required by the TDOA algorithm, and can calculate the distance between all base stations and a single tag in the positioning area. The positioning speed of CTT is at least 50% higher than the TOA algorithm. DW1000 is used to compare the positioning accuracy of TOA, TDOA and CTT algorithms respectively, the results show that the average positioning error of CTT algorithm in two dimensional case is less than 20 cm and the standard deviation is less than 10 cm, close to the accuracy of TOA and solve the instability of TDOA algorithm.

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