改进的Chan-粒子滤波算法超宽带室内三维定位

针对超宽带室内定位时容易受到非视距误差的影响，导致定位精度大大下降，甚至无法准确定位的问题，提出了一种融合粒子滤波的改进Chan定位新方法。首先，在Chan定位方法中引入模拟退火算法，对到达时间差（TDOA）算法的测量值进行优化，获得初步定位的最优解；然后，采用粒子滤波对测量值进行再次优化，粒子重采样后得到的中心位置即为目标节点的精确位置。仿真和实验结果均表明，该算法能有效提高在非视距环境下超宽带室内定位的精度，较好地消除非视距误差的干扰。

Improved Chan Particle Filter Algorithm for UWB Indoor 3D Positioning

Aiming at the problem that ultra-wideband indoor positioning is easy to be affected by the non-line-of-sight error, which leads to greatly reduced positioning accuracy and even inaccurate positioning, a new improved Chan positioning method based on particle filter is proposed in this paper. Firstly, the simulated annealing algorithm is introduced into Chan location method to optimize the measured value of time difference of arrival (TDOA) algorithm and obtain the optimal solution of preliminary location. Then, particle filter is used to optimize the measured value again, and the central position obtained after particle resampling is the exact position of the target node. Simulation and experimental results show that the proposed algorithm can effectively improve the accuracy of UWB indoor positioning in a non-line-of-sight environment and eliminate the interference of non-line-of-sight error.