超宽带定位的降噪方法研究
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摘要
针对超宽带定位中原始观测数据存在的高频噪声影响定位结果的问题,该文利用小波变换、Vondrak滤波、卡尔曼滤波3种方法分别对原始观测数据和定位结果两种方案进行降噪处理,并通过静态实验对比了降噪前后定位结果精度。结果表明,在两种降噪方案中,3种方法都能够有效提高定位结果精度,且卡尔曼滤波方法的效果最优,此外,对于同一点位,两种降噪方案得出的定位结果精度基本一致。
Aiming at the problem of positioning result influenced by high frequency noise existing in raw observation data in ultra wideband positioning.In this paper,wavelet transform,Vondrak filter and Kalman filter were used to denoise the raw observation data and the positioning result respectively.The positioning results were compared before and after noise reduction by the static experiment.The results showed that the three methods could effectively improve the positioning accuracy among the two noise reduction schemes,and the Kalman filter method was the best.In addition,the accuracy of the positioning results obtained by the two noise reduction schemes at the same point was basically the same.
Aiming at the problem of positioning result influenced by high frequency noise existing in raw observation data in ultra wideband positioning.In this paper,wavelet transform,Vondrak filter and Kalman filter were used to denoise the raw observation data and the positioning result respectively.The positioning results were compared before and after noise reduction by the static experiment.The results showed that the three methods could effectively improve the positioning accuracy among the two noise reduction schemes,and the Kalman filter method was the best.In addition,the accuracy of the positioning results obtained by the two noise reduction schemes at the same point was basically the same.
引文
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[2]DARDARI D,CONTI A,FERNER U,et al.Ranging with ultrawide bandwidth signals in multipath environments[J].Proceedings of the IEEE,2009,97(2):404-426.
[3]蒙静,张钦宇,张乃通,等.IR-UWB穿墙测距误差研究[J].哈尔滨工业大学学报,2011,43(11):84-88.(MENGJing,ZHANG Qinyu,ZHANG Naitong,et al.Research on IR-UWB through wall ranging error[J].Journal of Harbin Institute of Technology,2011,43(11):84-88.)
[4]CHONG C C,WATANABE F,WIN M Z.Effect of bandwidth on UWB ranging error[C]∥2007IEEEWireless Communications and Networking Conference.Piscataway,New Jersey,USA:IEEE,2007:1559-1564.
[5]韩厚增,王坚,孟晓林.GPS与加速度计融合桥梁变形信息提取模型研究[J].中国矿业大学学报,2015,44(3):549-556.(HAN Houzeng,WAND Jian,MENGXiaolin.Reconstruction of bridge dynamics using integrated GPS and accelerometer[J].Journal of China University of Mining&Technology,2015,44(3):549-556.)
[6]HAN S W,RIZOS C.GPS multipath mitigation using fir filters[J].Survey Review,2000,35(277):487-498.
[7]ZHENG D W,ZHONG P,DING X L,et al.Filtering GPS time-series using a Vondrak filter and cross-validation[J].Journal of Geodesy,2005,79(6/7):363-369.
[8]刘瑾,黄健,叶德超,等.旋转叶片振动信号的小波变换去噪处理[J].纳米技术与精密工程,2016,14(2):100-105.(LIU Jin,HUANG Jian,YE Dechao,et al.Denoising of rotating blade vibration signal by wavelet transform[J].Nanotechnology and Precision Engineering,2016,14(2):100-105.)
[9]巩彭安,毛永毅,杜杨洋.基于小波去噪的室内超宽带定位算法[J].微型机与应用,2015,34(10):61-63.(GONG Pengan,MAO Yongyi,DU Yangyang.An UWBindoor location algorithm based on wavelet de-noising[J].Microcomputer&Its Applications,2015,34(10):61-63.)
[10]林传分,覃锡忠,贾振红.基于小波分析除噪的全质心UWB室内定位研究[J].计算机仿真,2014,31(2):391-395.(LIN Chuanfen,QIN Xizhong,JIA Zhenhong.Research of UWB indoor location based on wavelet analysis and full centroid position scheme[J].Computer Simulation,2014,31(2):391-395.)
[11]吴芸芸,朱建军,左廷英.Vondrak滤波与多面函数相结合在高程异常拟合中的应用[J].工程勘察,2012(7):58-61.(WU Yunyun,ZHU Jianjun,ZUO Tingying.The application of Vondrak filter combined with multisurface function in height anomaly fitting[J].Geotechnical Investigation&Surveying,2012(7):58-61.)
[12]钟萍,丁晓利,郑大伟,等.Vondrak滤波法用于结构振动与GPS多路径信号的分离[J].中南大学学报(自然科学版),2006,37(6):1189-1195.(ZHONG Ping,DING Xiaoli,ZHENG Dawei,et al.Separation of structural vibrations and GPS multipath signals using Vondrak filter[J].Journal of Central South University(Science and Technology),2006,37(6):1189-1195.)
[13]吴芸芸,朱建军,左廷英.二维Vondrak滤波在高程异常拟合中的应用[J].大地测量与地球动力学,2011,31(6):132-135.(WU Yunyun,ZHU Jianjun,ZUOTingying.Application of 2D Vondrak filtering in height anomaly fitting[J].Journal of Geodesy and Geodynamics,2011,31(6):132-135.)
[14]杨元喜.自适应动态导航定位[M].北京:测绘出版社,2006.(YANG Yuanxi.Adaptive navigation and kinematic positioning[M].Beijing:Surveying and Mapping Press,2006.)
[15]ZHANG Chenchen,BAO Xiaoyu,WEI Qilu,et al.A Kalman filter for UWB positioning in LOS/NLOS scenarios[C]∥Fourth International Conference on Ubiquitous Positioning,Indoor Navigation and Location Based Services.Piscataway,New Jersey,USA:IEEE,2016:73-78.
[16]LI Xuehong,YANG Shuhua.The indoor real-time 3Dlocalization algorithm using UWB[C]∥International Conference on Advanced Mechatronic Systems.Piscataway,New Jersey,USA:IEEE,2015:337-342.
[17]YIN Haohao,XIA Weiwei,ZHANG Yueyue,et al.UWB-based indoor high precision localization system with robust unscented Kalman filter[C]∥2016IEEE International Conference on Communication Systems(ICCS).Piscataway,New Jersey,USA:IEEE,2016:1-6.
[18]DJAJA-JOSKO V,KOLAKOWSKI J.Application of Kalman filter for positioning precision improvement in UWB localization system[C]∥Telecommunications Forum.Piscataway,New Jersey,USA:IEEE,2016:1-4.
[19]王坚.滑坡灾害遥感遥测预警理论及方法[M].徐州:中国矿业大学出版社,2010.(WANG Jian.Theory and methodology for landslide remote sensing and remote survey prediction[M].Xuzhou:China University of Mining and Technology,2010.)
[20]李增科.多源传感器增强的精密单点定位与惯性测量组合导航系统[D].徐州:中国矿业大学,2015.(LIZengke.Precise point positioning and inertial measurement integrated navigation system enhanced with multi-sensor[D].Xuzhou:China University of Mining and Technology,2015.)