Underground target positioning based on differential error suppression optimization method
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摘要: 针对基于时间测距即到达时间、单程测距、双程测距、对称双边双程测距（SDS-TWR）等定位方法的定位精度受节点间时钟未同步、计时器频率偏移、设备时延等计时误差因素干扰的问题，提出了一种基于差分误差抑制优化方法的井下目标定位方法。该方法结合SDS-TWR定位方法，利用目标节点既是发射节点又是接收节点的特点，将传输时间及长度关系联立求解，通过矩阵形式，消除计时器频率偏移、设备时延等无关变量，得到未知目标节点的坐标仅与实测时间有关，从而有效消除计时误差对目标节点定位结果的影响，达到精确定位的目的。仿真结果表明，与单程测距、双程测距方法相比，差分误差抑制优化方法可有效抑制设备时延和计时器频率偏移等对基于时间测距的定位方法的影响，能对未知节点进行精确定位，定位精度高，测距误差区间仅为［-0.036 9 m,0.037 7 m］，是单程测距误差的0.012%，双程测距误差的0.061%。Abstract: In view of problem that positioning accuracy of positioning methods based on time ranging, namely arrival time, one-way ranging, two-way ranging and symmetrical double-sided two-way ranging (SDS-TWR) is disturbed by timing error factors such as clock asynchronization between nodes, timer frequency offset and equipment delay, an underground target positioning method based on differential error suppression optimization method was proposed. Combining with SDS-TWR positioning method, the method uses characteristics of target node as both transmitting node and receiving node to solve relationship between transmission time and length simultaneously. Irrelevant variables such as timer frequency offset and equipment delay are eliminated through matrix form and coordinates of unknown target node are only related to the measured time, so as to effectively eliminate influence of timing error on the positioning result of the target node, and achieve purpose of precise positioning. The simulation results show that compared with the one-way ranging and two-way ranging methods, the differential error suppression optimization method can effectively suppress influence of equipment delay and timer frequency offset on the positioning method based on time ranging, and can accurately locate the unknown node with high positioning accuracy, the range of ranging error is only ［-0.036 9 m, 0.037 7 m］, which is 0.012% of one-way ranging error and 0.061% of two-way ranging error.
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