基于超宽带的TDOA相邻单元协同定位技术

针对目前超宽带TDOA（Time Difference of Arrival）分单元定位系统存在位置多解性、定位精度低等问题，本文提出了相邻单元协同定位方法以及基于改进樽海鞘群算法的协同定位方程解算算法。该方法通过汇总相邻单元内收到同一定位请求信号的全部测量值，使坐标解算不再局限于一个时钟同步单元内，由此也导致参与位置计算的测量值个数与基站布局不确定性增加，Taylor算法无法满足解算要求，进而使用改进樽海鞘群算法代替Taylor算法进行协同定位位置计算，最终求得待测点位置坐标。六基站相邻单元协同定位实验结果表明，各测量点的R95值处于12 cm~15 cm之间，最大残余误差处于16 cm~23cm之间。本文所提方法无需进行多参量判断取舍位置信息，有效解决了位置多解性问题并提高了定位精度。

Cooperative location technology of TDOA adjacent units based on ultra wideband

Aiming at the problems of the current TDOA (Time Difference of Arrival) unit positioning system of ultra-wideband, such as multi-solution of position and low positioning accuracy. In this paper, a cooperative positioning method of adjacent units and a cooperative positioning equation solving algorithm based on improved salphus swarm algorithm are proposed. In this method, by summarizing all the measured values of the same positioning request signal received in adjacent units, the coordinate solution is no longer limited to one clock synchronization unit, which also leads to an increase in the uncertainty of the number of measured values and the layout of base stations involved in the position calculation. Taylor algorithm cannot meet the solution requirements, so the improved salphus swarm algorithm is used instead of Taylor algorithm to calculate the cooperative positioning position, and finally the position coordinates of the point to be measured are obtained. The experimental results of the cooperative positioning of adjacent units of six base stations show that the R95 value of each measuring point is between 12 cm and 15 cm, and the maximum residual error is between 16 cm and 23 cm. The method proposed in this paper does not need multi-parameter judgment to choose or reject position information, which effectively solves the problem of multi-solution of position and improves the positioning accuracy.