基于CSS技术的室内导航系统设计与实现

设计并实现了一种基于Chirp信号往返飞行时间（round time of flight ，RTOF）的室内导航系统，用于在复杂建筑物内部多个目标点的定位及跟踪。系统采用时分算法允许多标签同时定位，移动标签与锚节点之间实现双边双向测距（symmetrical double‐sided two‐way ranging ，SDS‐TWR）算法，移动标签并把测距结果传送给定位基站，定位基站再将结果透传到计算中心处理。计算中心利用改进的卡尔曼滤波算法减弱NLOS误差影响，采用加权矫正三点定位算法计算出移动标签位置信息，并存储定位结果于定位服务器。客户端可访问定位服务器查看所需要标签的定位结果。实验结果表明，在特定复杂楼层内，系统定位精度能达到2m，满足室内导航精度需求。本系统实现了定位刷新时间与标签个数的最优化，也具有较好的规模伸缩度以及易部署性。

Indoor navigation system design and implementation based on CSS technology

An indoor navigation system based on the RTOF (round time of flight) of Chirp signal is designed and implemented ,which is used to locate and track multiple targets in a complex building interior . Time division multiplexing method to allow more tag positioning simultaneously ,SDS‐TWR (symmetrical double‐sided two‐way ranging) algorithm is realized between mobile tag and anchor node ,then tag sends the result to the positioning base station ,and through to the computing center .Computing center uses the improved kalman filtering algorithm to reduce the NLOS error and the weighted correction three points localization algorithm to calculate the mobile tag location information ,which is stored in the location server finally .The client is able to access to the server to check the result of appointed tag .The experiments show that ,within certain complex floor structures ,the precision can reach 2 m ,meet the demand if indoor navigation accuracy .The system has also realized refresh time optimization with tag number ,with flexible and deployable .