基于TOA减小非视距误差的方案设计

针对TOA无线定位中容易受非视距影响等问题，提出了一套有效减小非视距误差的无线测距系统.通过建立消除非视距误差的卡尔曼滤波模型来消除随机干扰，利用实测数据进行离线滤波仿真，从而验证模型的有效性.以ATmega1280微处理器为控制器，nanoPAN 5375为射频芯片，设计了一套测距系统，并在测距平台上进行实际测试.结果表明，测距系统能够完成实时动态滤波，有效减少非视距误差，测量精度较高，可直接应用于存在NLOS环境下的定位.

Scheme design of TOA based system with mitigating NLOS error

In order to solve the problem that the TOA based wireless location is easily influenced by non line of sight （NLOS）, a set of wireless ranging system for effectively mitigating NLOS error was proposed. The Kalman filtering model for mitigating NLOS error was established to eliminate the random interference. The off line filtering simulation with the test data was carried out to verify the effectiveness of the model. In addition, a set of ranging system was designed with taking the ATmega1280 microprocessor as the controller and the nanoPAN 5375 as the radio frequency chip, and the actual test was performed on the ranging platform. The results show that the ranging system can accomplish the real time dynamic filtering and reduce the NLOS error, and has a higher measurement precision. Furthermore, the ranging system can be directly applied to the location under the NLOS environment.