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一种基于双锚点模型的改进型无人机超宽带室内定位方法。

An Improved UWB Indoor Positioning Approach for UAVs Based on the Dual-Anchor Model.

作者信息

Xiang Zhengrong, Chen Lei, Wu Qiqi, Yang Jianfeng, Dai Xisheng, Xie Xianming

机构信息

School of Automation, Guangxi University of Science and Technology, Liuzhou 545006, China.

School of Physics and Information Engineering, Guangxi Science & Technology Normal University, Laibin 546199, China.

出版信息

Sensors (Basel). 2025 Feb 10;25(4):1052. doi: 10.3390/s25041052.

DOI:10.3390/s25041052
PMID:40006281
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11859676/
Abstract

Ultra-wideband (UWB) technology has been widely used for indoor positioning of UAVs due to its excellent range performance. The traditional UWB positioning system requires at least three anchors to complete 3D positioning. Reducing the number of anchors further means reducing the cost and difficulty of deployment. Therefore, this paper proposes a positioning model using only two anchors. In this model, the altitude of the UAV is measured by a rangefinder. Then, the position of the UAV is projected onto the horizontal plane, converting 3D positioning into 2D positioning. The rangefinder's range accuracy is higher than that of the UWB, which is beneficial for improving 3D positioning accuracy. In addition, an altitude fusion method of integrating rangefinder and barometer data is designed to realize the switching of altitude data and barometer calibration to solve the problem of obstacles under the UAV affecting the altitude measurement. On this basis, the multi-sensor data fusion algorithm based on a dual-anchor positioning model is designed to improve positioning accuracy, and the data of the UWB, rangefinder, barometer, and accelerometer are fused by the unscented Kalman filter (UKF) algorithm. The positioning simulation and experiment show that the positioning accuracy of the dual-anchor model is generally higher than that of the three-anchor model, with decimeter-level positioning accuracy.

摘要

超宽带（UWB）技术因其出色的测距性能而被广泛用于无人机的室内定位。传统的UWB定位系统至少需要三个锚点才能完成三维定位。进一步减少锚点数量意味着降低部署成本和难度。因此，本文提出了一种仅使用两个锚点的定位模型。在该模型中，无人机的高度由测距仪测量。然后，将无人机的位置投影到水平面上，将三维定位转换为二维定位。测距仪的测距精度高于UWB，这有利于提高三维定位精度。此外，设计了一种融合测距仪和气压计数据的高度融合方法，以实现高度数据的切换和气压计校准，解决无人机下方障碍物影响高度测量的问题。在此基础上，设计了基于双锚定位模型的多传感器数据融合算法以提高定位精度，并通过无迹卡尔曼滤波（UKF）算法融合UWB、测距仪、气压计和加速度计的数据。定位仿真和实验表明，双锚模型的定位精度普遍高于三锚模型，具有分米级的定位精度。

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