摘要
动态目标的运动通常具有随机性、非线性等特征,在复杂环境中易受遮挡和多径效应的影响。这些现象会显著干扰测距信号的传播,导致动态目标运动参数实时测量系统产生测距误差,进而降低系统的测量精度与实时性。为此,提出一种基于超宽带(Ultra-Wideband,UWB)定位与多源数据融合技术的动态目标运动参数实时测量系统。为实现高精度、低延迟的运动参数测量,系统从硬件与软件两方面进行协同设计。在硬件层面,构建UWB定位模块,通过部署多个UWB锚点形成三维定位网络,并选用高精度测距芯片以提升距离测量的准确性;同时集成多源传感器模块,结合惯性测量单元(IMU)修正运动参数误差。在软件层面,通过构建基于到达时间差(Time Difference of Arrival,TDOA)定位模型,获取动态目标的空间坐标,实现UWB定位解算;随后融合加速度计、陀螺仪和磁力计的数据更新航向角,并通过轨迹匹配与相关性分析对定位结果进行动态误差补偿。实验结果表明,在功能性方面,本文系统的定位偏差在0.25 m以下,加速度测量偏差小于0.09 m/s^(2),速度偏差小于0.26 m/s,表明本文系统可准确测量出动态目标运动参数;在系统实时性方面,本文系统延时时间在10 ms以下,表明该系统性能良好。
The motion of dynamic targets has characteristics such as randomness and nonlinearity,which can cause occlusion and multipath effects in complex environments.These phenomena can significantly interfere with the propagation of ranging signals,causing ranging errors in the real-time measurement system of dynamic target motion parameters,thereby reducing the measurement accuracy and real-time performance of the system.Therefore,a real-time measurement system for dynamic target motion parameters based on ultra-wideband(UWB)positioning and multi-source data fusion technology is proposed.To achieve high-precision,low-latency motion parameter measurement,the system is designed collaboratively from both hardware and software perspectives.In terms of hardware,a UWB positioning module is constructed,and a three-dimensional positioning network is built by deploying multiple UWB anchor points,and a high-precision ranging chip is selected to improve the accuracy of distance measurement;simultaneously,it integrates a multi-source sensor module and combines it with an inertial measurement unit(IMU)to correct motion parameter errors.In terms of software,the time difference of arrival(TDOA)positioning model is constructed to obtain the coordinates of dynamic targets and achieve UWB positioning calculation;then,update heading angle by data from accelerometers,gyroscopes,and magnetometers,and compensate for errors through trajectory matching and correlation calculations.Experimental results show that,in terms of functionality,the positioning deviation of the system is less than 0.25 m,the acceleration measurement deviation is less than 0.09 m/s^(2),and the velocity deviation is less than 0.26 m/s,indicating that the system can accurately measure the motion parameters of dynamic targets.In terms of real-time performance,the system delay time is less than 10 ms,indicating that the system has good performance.
作者
朱同超
杜登科
ZHU Tongchao;DU Dengke(Wuhan Sports University Wudang Mountain International Martial Arts College,Shiyan 442000,China;Wuhan Mingcheng Culture and Sports Group Co.,Ltd.,Wuhan 430071,China)
出处
《国外电子测量技术》
2025年第11期219-224,共6页
Foreign Electronic Measurement Technology
关键词
动态目标
实时测量
超宽带定位
运动参数
误差补偿
dynamic target
real-time measurement
ultra-wideband
motion parameters
error compensation
