大型封闭空间中UWB定位基站拓扑的通用设计方法

超宽带(ultra-wide band, UWB)技术是无人装备在巡检具有多障碍物的大型封闭空间时获取定位坐标的主要方法之一。目前主要依赖人工方式设计UWB定位基站拓扑的构型、位置和数量。这种方式存在设计效率低下，设计效果未知，性价比难以确定等问题。为此，本文提出了一套较为科学完善的定位基站拓扑评价体系，并提出了一种在大型封闭空间中自动设计定位基站拓扑的通用方法。该方法以仿真模拟为基础，通过遗传算法结合拓扑评价体系，自动生成贴合实际应用场景的最优拓扑方案，包括最优的基站布设数量以及布设位置信息。实验结果表明：1）经通用设计方法生成的拓扑相比使用基站数量最多的拓扑，综合性能提高了6.2%；相比使用基站数量最少的拓扑，综合性能提高了21.2%。2）经通用设计方法生成的拓扑相比人工设计的锯齿形拓扑，综合性能提高了114%，设计效率提高了92.9%。可见，针对具有多障碍物的大型封闭空间场景，本文的方法可以在较短的时间内设计出综合性能较优，性价比较高的定位基站拓扑，为无人装备在此类大型封闭空间中开展全自主定位和巡检奠定了基础。

Universal design approach for UWB localization base station topology in large enclosed spaces

UWB (Ultra-Wide Band, UWB) technology is one of the main approaches for obtaining the location coordinates of unmanned equipment while inspecting in large enclosed spaces with multiple obstacles. Currently, the design of UWB location base stations topology mainly relies on manual methods, which have many shortcomings such as low design efficiency, unknown design effect, and difficult determination of cost-effectiveness. To address these issues, this paper proposes a scientific and complete topological evaluation system of UWB location base stations, and a universal automated design method for the topology of UWB location base stations in large enclosed spaces. The method is based on simulation, genetic algorithm and topological evaluation system to automatically generate the optimal topology scheme suitable for practical application scenarios, including the optimal number and location information of base stations. The experimental results show that: 1) The topology generated by the universal design approach has a better comprehensive performance than the topology with the largest number of base stations, with an increase of 6.2% in overall performance; it also has a better comprehensive performance than the topology with the smallest number of base stations, with an increase of 21.2% in overall performance. 2) The topology generated by the universal design method has a better comprehensive performance than the serrated topology designed by humans, with an increase of 11.4% in overall performance and a design efficiency increase of 92.9%. Therefore, for the scenario of multiple obstacles in large enclosed spaces, the approach proposed in this paper can design a topology with better overall performance and higher cost-effectiveness in a shorter time, providing a foundation for unmanned equipment to conduct autonomous patrols and inspections in such large enclosed spaces.