文献类型：期刊文献

英文题名：Adapted Error Map Based Mobile Robot UWB Indoor Positioning

作者：Zhu, Xiaomin[1];Yi, Jianjun[1];Cheng, Junyi[1];He, Liang[2]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China;[2]Shanghai Aerosp Control Technol Inst, Shanghai 201109, Peoples R China

年份：2020

卷号：69

期号：9

起止页码：6336

外文期刊名：IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT

收录：;EI(收录号：20203509110601);WOS:【SCI-EXPANDED(收录号:WOS:000559518800039)】；

基金：This work was supported in part by the Natural Science Fund of China (NSFC) under Grant 51575186, Grant 51275173, and Grant 50975088, in part by the Shanghai Science and Technology Action Plan under Grant 18DZ1204000, Grant 18510745500, Grant 18510750100, and Grant 19510730600, in part by the Shanghai Aerospace Science and Technology Innovation Fund (SAST) under Grant 2018-085, and in part by the Shanghai Municipal Economic and Informatization Commission Special Founds under Grant 201801054. The Associate Editor coordinating the review process was Jingyu Hua.

语种：英文

外文关键词：Measurement uncertainty; Position measurement; Buildings; Atmospheric measurements; Particle measurements; Area measurement; Density measurement; Error map; indoor positioning; measurement point; particle filter (PF); ultrawideband (UWB)

摘要：Ultrawideband (UWB) has gained a lot of attention in indoor positioning due to its high time resolution, whereas its accuracy could be easily affected by the indoor environment. A UWB error map could represent the distribution of the positioning errors in a static indoor space and help to improve the accuracy of indoor positioning. However, the building of the error map needs much work. In this article, we propose a UWB error map building method, which adapts the distribution of positioning error measurement points to a rough positioning error distribution. An adapted error map based particle filter (AEMBPF), which adopts the error map in the initialization and weight update of the particle set, is then proposed to improve the accuracy of UWB positioning. The experimental results have shown a nearly 50% reduction in the number of measurement points and better positioning accuracy with faster convergence speed.