摘要： 隨著城市高層單體建筑物的普及與增多，火災(zāi)救援已由簡(jiǎn)單平面救援向三維空間延伸,，頻發(fā)的火災(zāi)對(duì)進(jìn)入此類火場(chǎng)的消防救援人員的生命安全造成了極大的威脅,，如何準(zhǔn)確定位火場(chǎng)人員的位置以在需要時(shí)進(jìn)行營(yíng)救成為一個(gè)極具價(jià)值的課題,。基于超寬帶（Ultra-wide Bandwidth,，UWB）定位技術(shù),，由于LSE/TDOA（Least Square Error/ Time Differential of Arrival）混合算法僅在二維求解中有較好表現(xiàn)，而三維定位精度不高誤差較大,，進(jìn)一步提出了Chan-WLS（Weighted Least Squares）/TDOA定位算法,，實(shí)驗(yàn)證明該算法具有較高的穩(wěn)定性和定位精準(zhǔn)度。同時(shí),，首次理論推導(dǎo)出了三維TDOA算法的克拉美羅下界,，并求得了所提出的Chan-WLS/TDOA定位算法的CRLB值。實(shí)驗(yàn)結(jié)果表明,，在多種復(fù)雜環(huán)境下采用該定位算法可將誤差控制在一定范圍,，滿足工程應(yīng)用需求。
中圖分類號(hào)：TP39 文獻(xiàn)標(biāo)志碼：A DOI: 10.16157/j.issn.0258-7998.223676 中文引用格式： 羊行,，李迅波,，鄧蘊(yùn)皓. 基于UWB的實(shí)時(shí)消防空間三維定位系統(tǒng)研究[J]. 電子技術(shù)應(yīng)用，2023,，49(5)：71-76. 英文引用格式： Yang Hang,，Li Xunbo，Deng Yunhao. Research on real-time three-dimensional space positioning system of fire fighting based on UWB[J]. Application of Electronic Technique,，2023,，49(5)：71-76.
Research on real-time three-dimensional space positioning system of fire fighting based on UWB
Yang Hang1，2,，Li Xunbo1,，Deng Yunhao3
(1.School of Mechanical and Electrical Engineering， University of Electronic Science and Technology of China,， Chengdu 611731,， China； 2.School of Information Engineering,， Southwest University of Science and Technology,， Mianyang 621000， China,； 3.China Railway Chengdu Bureau Group Corporation,， Chengdu 610081， China)
Abstract： With the increase of single high-rise city buildings, fire rescue has extended from simple plane rescue to three-dimensional space. Frequent fires pose a great threat to the life safety of fire rescue personnel entering such fire sites. Locating the location of people on the fire scene for rescue when needed becomes an extremely valuable subject. Based on ultra-wideband (UWB) positioning technology, since the Least Square Error/ Time Differential of arrival (LSE/TDOA) hybrid algorithm only has a good performance in two-dimensional solution, but the three-dimensional positioning accuracy is not high, and the error is large, the Chan- Weighted Least Squares (WLS)/TDOA positioning algorithm is further proposed. The experiment proves that the algorithm has high stability and positioning accuracy. At the same time, the Cramer-Rao lower bound(CRLB) of the 3D TDOA algorithm is theoretically deduced for the first time, and the CRLB value of the proposed Chan-WLS/TDOA positioning algorithm is obtained. Experimental results show that the errors are under control when adapting the positioning algorithm in a variety of complex environments and can meet the needs of engineering applications.
Key words : three-dimensional space positioning,；TDOA,；CRLB,；fire rescue
0 引言
位置信息自古以來(lái)就對(duì)人類有著不同尋常的吸引力,，從出行到出游，從工作到生活，人們無(wú)時(shí)無(wú)刻不渴望了解自己的位置信息,。隨著現(xiàn)代移動(dòng)通信技術(shù)的快速革新,，人們已經(jīng)越來(lái)越離不開(kāi)無(wú)線手持終端，而位置感知服務(wù)也扮演著越來(lái)越重要的角色,。民用非高精度的定位技術(shù)已趨于成熟,，任何人都可以通過(guò)帶定位功能的手機(jī)或手表在室外便捷地使用包括全球定位系統(tǒng)（Global Position System，GPS）,、北斗衛(wèi)星導(dǎo)航系統(tǒng),、伽利略及蜂窩移動(dòng)網(wǎng)絡(luò)在內(nèi)的各種商用系統(tǒng)提供的功能來(lái)輔助日常出行和尋人。
