NLOS error mitigation with information fusion algorithm for UWB ranging systems

doi:10.1016/S1005-8885(11)60241-0

中国邮电高校学报(英文) ›› 2012, Vol. 19 ›› Issue (2): 22-29.doi: 10.1016/S1005-8885(11)60241-0

NLOS error mitigation with information fusion algorithm for UWB ranging systems

姜向远¹,张焕水¹,王伟

收稿日期:2011-05-19 修回日期:2011-12-21 出版日期:2012-04-30 发布日期:2012-04-17
通讯作者: 张焕水 E-mail:jiangxiangyuan@mail.sdu.edu.cn
基金资助:
This work was supported by the National Natural Science Foundation for Distinguished Young Scholars of China (60825304), and the National Basic Research Development Program of China (2009cb320600).

NLOS error mitigation with information fusion algorithm for UWB ranging systems

School of Control Science and Engineering, Shandong University, Jinan 250061, China

Received:2011-05-19 Revised:2011-12-21 Online:2012-04-30 Published:2012-04-17
Supported by:
This work was supported by the National Natural Science Foundation for Distinguished Young Scholars of China (60825304), and the National Basic Research Development Program of China (2009cb320600).

摘要/Abstract

摘要：

This article puts forward a scalar weighting information fusion (IF) smoother with modified biased Kalman filter (BKF) and maximum likelihood estimation (MLE) to mitigate the ranging errors in ultra wide band (UWB) systems. The information fusion algorithm uses both the time of arrival (TOA) and received signal strength (RSS) measurement data to improve the ranging accuracy. At first, the ranging protocol of IEEE 802.15.4a acts as a multi-sensor system with multi-scale sampling. Then the scalar-based IF smoother accurately estimates the range measurement in the line of sight (LOS) and non-line of sight (NLOS) condition of UWB sensor network，during which the effectiveness of the IF in mitigating errors is especially focused during the LOS/NLOS transitions. Simulation results show that the proposed hybrid TOA-RSS fusion approach indicates a performance improvement compared with the usual TOA-only and other IF method, and the estimated ranging metrics can be used for achieving higher accuracy in location estimation and target tracking.

关键词:

NLOS error mitigation, biased Kalman filter, maximum likelihood estimation, information fusion, UWB ranging system

Abstract:

Key words:

NLOS error mitigation, biased Kalman filter, maximum likelihood estimation, information fusion, UWB ranging system

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NLOS error mitigation with information fusion algorithm for UWB ranging systems

NLOS error mitigation with information fusion algorithm for UWB ranging systems

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