Positioning Research Based on UWB for Following Luggage

• 1、Automation School,Wuhan University of Technology,Wuhan 430070

Abstract：To solve the positioning problem of intelligent following luggage, the positioning method of installing UWB (Ultra-wide-band) on the following luggage has been put forward for its capability of making self-adaptation to Kalman filtering. When luggage is moving, the noise from UWB system will change in accordance with vibration and surrounding environment. Therefore, the range error of distance measurement can be increased and the inhibitory effect of traditional Kalman filtering on error always cannot meet requirements. Concerning the issues above, a weighted self-adaptation Kalman filter algorithm is proposed. On the basis of synchronized clock and construction of dynamic ranging model, the distance of filters is set and the triangular centroid coordinates are used to calculate the position on average, improving the reliability and accuracy of positioning. UWB system consists of base stations and labels made of DW1000 radio frequency chips. The base stations are placed at top four corners of the luggage and labels are moved by hand. The experimental results show that, this method can help improve the positioning accuracy of labels effectively, and its fitting path is closer to the real path.

Keywords： UWB positioning following luggage range errors adaptive Kalman filtering