CN107907857A - A kind of real-time location method and positioner based on UWB - Google Patents
A kind of real-time location method and positioner based on UWB Download PDFInfo
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- CN107907857A CN107907857A CN201711007378.4A CN201711007378A CN107907857A CN 107907857 A CN107907857 A CN 107907857A CN 201711007378 A CN201711007378 A CN 201711007378A CN 107907857 A CN107907857 A CN 107907857A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
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Abstract
The invention discloses a kind of real-time location method and positioner based on UWB, method includes：Positioner obtain moving target motion state, establish take into account velocity to moving target parameter apart from observational equation；The component of the speed parameter of moving target in different directions is set according to the priori of moving target, establishes the virtual observation equation on velocity component；Initial position of the observational equation in pre-estimation is subjected to Taylor series expansion, simultaneous virtual observation equation, establishes positioning calculation model；Using weighted least-squares method, estimation, and the initial value estimated position coordinates is updated as next iteration are iterated to the position of moving target；When coordinate modification number meets threshold condition, then stop iteration, the position coordinates after output renewal, the position as moving target current time.The present invention establishes the positioning calculation model for taking velocity to moving target parameter into account, can realize accurate, positioning in real time in the case where not increasing base station and laying quantity.
Description
Technical field
The present invention relates to Kinematic Positioning Techniquess field, and in particular to a kind of real-time location method and positioning dress based on UWB
Put.
Background technology
UWB (Ultra-Wideband, ultra wide band) indoor positioning technologies, in short distance high-speed radio positioning field, especially
It is to be widely used in being accurately positioned under the complex scenes such as interior.But it is quick in high precision to high-speed moving object to restrict its realization
One big factors of positioning are exactly the relevant information that existing location model does not account for target state.
For dynamic object, (being usually the observation interval of 10ms or so), fortune in one group of of short duration observation time
The position of moving-target can also change, therefore when different observation base station initiates to observe to moving target, corresponding moving target
Position is actual different, but traditional observational equation and resolving model do not account for this point, such as the dynamic to unmanned plane then
Positioning, nowadays for unmanned plane during flying speed generally up to 80km/h, some is even up to 140km/h, then adjacent to observe twice
With regard to 22cm~40cm can occur in 10ms intervals, it can be seen that position error caused by traditional location technology can reach li
Rice, even decimeter grade, can not realize and be accurately positioned.And if increase base station number is accurately positioned to realize, not only increase
Add cost, also substantially prolongs the positioning calculation cycle.
Therefore, the prior art has yet to be improved and developed.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of the prior art, there is provided a kind of reality based on UWB
When localization method and positioner, it is intended to solve accurate, real-time for can not realizing for dynamic moving target in the prior art
The problem of positioning.
The technical proposal for solving the technical problem of the invention is as follows：
A kind of real-time location method based on UWB, wherein, the described method includes：
Step A, positioner obtains the motion state of moving target, and establishes the distance for taking velocity to moving target parameter into account
Observational equation；
Step B, the component of the speed parameter of moving target in different directions is set according to the priori of moving target,
Establish the virtual observation equation on velocity component；
Step C, observational equation is subjected to Taylor series expansion at the initial position co-ordinates of the moving target of pre-estimation, and
Simultaneous virtual observation equation, establishes the positioning calculation model of moving target；
Step D, using weighted least-squares method, estimation is iterated to the position of moving target, and mesh is moved into renewal
The initial value that target position coordinates is estimated as next iteration；
Step E, when coordinate modification number meets default threshold condition, then iteration is stopped, the position after output renewal is sat
Mark, the position as moving target current time.
The real-time location method based on UWB, wherein, the step A is specifically included：
Step A1, positioner obtains different base station to the distance of moving target, analyzes the motion state of moving target, and
Obtain the priori on moving target；
Step A2, the speed parameter of the priori estimation moving target based on moving target, obtains different base station observation
When moving target position coordinates；
Step A3, establish apart from observational equation；
The position coordinates of moving target is expressed as during the different base station observation：Wherein,
△ti=ti-t1, tiThe time of range measurement is completed with target for i-th of base station, P (x, y, z) is t1Moment corresponds to
Moving target position；v(vx,vy,vz) be moving target speed parameter.
The real-time location method based on UWB, wherein, the position coordinates of moving target when the different base station is observed
Method for expressing be remained a constant speed based on moving target in one group of observation time linear motion supposed premise under produce.
The real-time location method based on UWB, wherein, it is described to be expressed as apart from observational equation：Wherein, diObservation between i-th of base station and moving target away from
From (xi,yi,zi) represent the position coordinates of i-th of base station.
The real-time location method based on UWB, wherein, the virtual observation equation on velocity component is：Wherein, Vx,Vy,VzFor the speed component in different directions of moving target；v(vx,vy,vz)
For the speed parameter of moving target.
The real-time location method based on UWB, wherein, further included before the step C：
Step C0, advance with least square method to estimate the initial position co-ordinates of moving target, the movement mesh
Target initial position is expressed as P0(x0,y0,z0)。
The real-time location method based on UWB, wherein, the positioning calculation model of the moving target is rectangular
Formula, and be expressed as：ε=h δ, wherein,
The real-time location method based on UWB, wherein, the step D is specifically included：
Step D1, using weighted least square algorithm, the least-squares estimation of δ in positioning calculation model is obtained：δ=(hTQ-1h)-1hTQ-1ε；Wherein matrix Q is the weight matrix on moving target position and speed；
Step D2, estimation, the position coordinates of real-time update moving target, and conduct are iterated to the position of moving target
The initial value of next iteration estimation；
Step D3, successive ignition estimation is carried out, and the position coordinates of moving target is updated.
The real-time location method based on UWB, wherein, further included before the step E：
Step E0, threshold condition is pre-set, for constraining the result of iteration, makes to estimate moving target position
Meter converges to a stable value.
A kind of positioner, wherein, including：Processor, the storage device being connected with processor communication, the storage device
Suitable for storing a plurality of instruction；The processor is suitable for calling the instruction in the storage device, and any of the above-described is realized to perform
The real-time location method based on UWB.
Beneficial effects of the present invention：The present invention establishes virtual observation equation by introducing the speed parameter of moving target, and
The positioning calculation model for taking velocity to moving target parameter into account is established, can be realized in the case where not increasing base station and laying quantity
Accurately, positioning in real time.
Brief description of the drawings
Fig. 1 is the flow chart of the first preferred embodiment of the real-time location method based on UWB of the present invention.
Fig. 2 is the functional schematic block diagram of the preferred embodiment of the positioner of the present invention.
Embodiment
To make the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and do not have to
It is of the invention in limiting.
As shown in Figure 1, Fig. 1 is the flow chart of the first preferred embodiment of the real-time location method based on UWB of the present invention.
The real-time location method based on UWB comprises the following steps：
Step S100, positioner obtains the motion state of moving target, and establishes and take velocity to moving target parameter into account
Apart from observational equation.
It is preferred that the step S100 is specifically included：
Step S101, positioner obtains different base station to the distance of moving target, analyzes the motion state of moving target,
And obtain the priori on moving target；
Step S102, the speed parameter of the priori estimation moving target based on moving target, obtains different base station sight
The position coordinates of moving target during survey；
Step S103, establish apart from observational equation.
When it is implemented, in dynamic one group of observation time of moving target (be usually 10ms or so observation between
Every), the moving target position that different base station observes is really different.Since observation time is very short, moving target is substantially
Remain a constant speed linear motion.When needing to position moving target, positioner can obtain different base station to fortune first
The distance of moving-target, is analyzed for the motion state of moving target, and obtains the priori on moving target.This reality
Applying can set in example using 6 base stations, even i=6.Since one group of observation time is very short, it will be assumed that in this time, fortune
Moving-target remains a constant speed linear motion, then the position coordinates of moving target is expressed as when different base station is observed：Wherein △ ti=ti-t1, tiThe time of range measurement is completed with target for i-th of base station, P (x, y, z) is
t1Moment corresponding moving target position.It is accurate to the realization of dynamic moving target fixed due to needing to be accomplished that in the present invention
Position, and in traditional technology, when establishing the observational equation of distance, due to not with respect to the speed parameter of moving target,
The positioning calculation model of foundation can not be realized and be accurately positioned to moving target, especially high-speed motion state target.It is and of the invention
Above-mentioned moving target position coordinates equation in consider in an epoch of observation, the change that moving target position occurs is real
The dynamic observation to moving target is showed and has resolved.
Since the speed that moving target is introduced in the equation of the position coordinates of the above-mentioned moving target in the present invention is joined
Number, therefore by speed parameter and the position coordinates of moving target is combined, the observational equation of measurement observed range is established, is represented
For：Wherein, diIt is the observation between i-th of base station and moving target
Distance, (xi,yi,zi) represent the position coordinates of i-th of base station.Thus the sight for the measurement observed range for introducing speed parameter is established
Equation is surveyed, is that the positioning calculation model for subsequently establishing moving target is prepared.
Step S200, point of the speed parameter of moving target in different directions is set according to the priori of moving target
Amount, establishes the virtual observation equation on velocity component.
When it is implemented, due to the introducing of speed parameter, we not only need the actual position coordinate P to moving target
(x, y, z) is resolved, and needs to realize to velocity to moving target v (vx,vy,vz) estimation, this is with traditional without considering speed
The resolving model of degree parameter is compared, it is necessary to which more base stations, this will result in the rising of alignment system deployment cost, reduces at the same time
The real-time of alignment system in practical applications, in order to solve this problem, present invention introduces on velocity to moving target component
Virtual observation equation：Wherein, Vx,Vy,VzIt is to be set according to the priori of moving target
The component of the speed parameter of moving target in different directions.Due to introducing the speed of moving target, unknown number is caused to increase,
And equation quantity can be increased by establishing virtual observation, rank defect of traditional observational equation when base station is inadequate is solved the problems, such as.And
Due to the introducing of virtual observation equation so that the present invention needed for base station number as the location model without considering speed parameter,
Deployment cost will not additionally be increased.
Step S300, observational equation is subjected to Taylor series exhibition at the initial position co-ordinates of the moving target of pre-estimation
Open, and simultaneous virtual observation equation, establish the positioning calculation model of moving target.
When it is implemented, since the observational equation of obtained measurement observed range in above-mentioned steps S100 is non-linear side
Journey group, solution is relatively difficult, can linearize observational equation using Taylor series expansion method, reduce the complexity of solution procedure,
But on condition that need to estimate the initial position of moving target.Therefore the present invention is establishing the positioning calculation of moving target
Need in advance to estimate the initial position of moving target before model.It is preferred that in the present invention using least square method come
The initial position of moving target is estimated, obtains the initial position co-ordinates P of moving target0(x0,y0,z0)。
For the easier actual position coordinate for calculating moving target, need to survey in the present invention
The initial position co-ordinates P for the moving target that the observational equation of discharge observation distance goes out in pre-estimation0(x0,y0,z0)
Place carries out Taylor series expansion, ignores second order above component, and the observational equation that renewal obtains moving target is：, wherein△ x=x-x0, △ y=y-y0, △ z=z-z0.Simultaneous is virtually seen afterwards
Equation is surveyed, establishes the positioning calculation model of moving target, the positioning calculation model of the moving target is matrix form：ε=h δ,
Wherein,
Step S400, using weighted least-squares method, estimation is iterated to the position of moving target, mesh is moved into renewal
The initial value that target position coordinates is estimated as next iteration.
It is preferred that the step S400 is specifically included：
Step S401, using weighted least square algorithm, the least-squares estimation of δ in positioning calculation model is obtained：δ=
(hTQ-1h)-1hTQ-1ε；Wherein matrix Q is the weight matrix on moving target position and speed；
Step S402, estimation, the position coordinates of real-time update moving target are iterated to the position of moving target, and made
For the initial value of next iteration；
Step S403, successive ignition estimation is carried out, and the position coordinates of moving target is updated.
When it is implemented, obtaining the positioning calculation model in the present invention from above-mentioned steps S300, mesh is moved in order to obtain
Target is accurately positioned, and is utilized weighted least square algorithm in the present invention, is obtained the least-squares estimation of δ in positioning calculation model：δ
=(hTQ-1h)-1hTQ-1ε；Wherein, matrix Q is position and the weight matrix of speed of moving target, and the selection of Q is largely
On decide the precision and effect of positioning, under actual conditions, due to range measurement precision change and moving target it is actual
Position and velocity to moving target are related, therefore, can according to range measurement priori related to moving target, such as：
During ranging, the variance of range measurement and actual range；Moving target during exercise, the variance between maximal rate and estimating speed
Deng being trained to weight matrix Q, so as to constrain the position and velocity estimation of moving target, to meet friction speed
In the case of moving target is accurately positioned.It is preferred that in an embodiment of the present invention, set Vx=Vy=Vz=0, Wo Menkao
Consider two kinds of situations, for swiftly passing object, the constraint of a very little can be applied to speed by weight matrix Q, allow vx,
vy, vzEstimate be more bonded actual motion situation, to static object, a very big constraint can be applied, by moving target
Constraint of velocity is 0, by this change, the accurate estimation to velocity to moving target parameter is realized, so as to be carried out to moving target
It is accurately positioned.
According to the least-squares estimation of obtained δ, first, by initial position co-ordinates P0(x0,y0,z0) substitute into δ a most young waiter in a wineshop or an inn
Multiply estimation and carry out primary iteration estimation, obtain the value of one group of △ x, △ y, △ z, make x0=x0+ △ x, y0=y0+ △ y, z0=z0+
△ z, and the position coordinates of real-time update moving target, the initial value using the position coordinates of renewal as iterative estimate of future generation,
Successive ignition estimation is carried out, and the position coordinates of moving target is updated.
Step S500, when coordinate modification number meets default threshold condition, then iteration, the position after output renewal are stopped
Coordinate, the position as moving target current time.
When it is implemented, pre-set threshold condition | △ x |+| △ y |+| △ z |≤λ, wherein λ are coordinate modification number, institute
State threshold condition to be used to constrain the result of iteration, the estimation to moving target position is converged to a stable value.
△ x, △ y, the △ z of output are sufficiently small after by iteration and the sum of its absolute value meets coordinate modification number λ set in advance,
Meet threshold condition | △ x |+| △ y |+| △ z | during≤λ, then make x=x0, y=y0, z=z0, then P (x, y, z) is to pass through
Estimation obtains t after successive ignition1The position coordinates of moment corresponding moving target.Pass through multiple iterative estimate so that movement
The final position of target converges to a stable value, reduces the randomness that moving target position solves, improves moving target
Positioning accuracy.
Based on above-described embodiment, the invention also discloses a kind of positioner.As Fig. 2 shows, including：Processor
(processor) 10 the storage device (memory) 20, being connected with processor 10；Wherein, the processor 10 is used to call institute
The programmed instruction in storage device 20 is stated, to perform the method that above-described embodiment is provided, such as is performed：
Step S100, positioner obtains the motion state of moving target, and establishes and take velocity to moving target parameter into account
Apart from observational equation；
Step S200, point of the speed parameter of moving target in different directions is set according to the priori of moving target
Amount, establishes the virtual observation equation on velocity component；
Step S300, observational equation is subjected to Taylor series exhibition at the initial position co-ordinates of the moving target of pre-estimation
Open, and simultaneous virtual observation equation, establish the positioning calculation model of moving target；
Step S400, using weighted least-squares method, to the position iterative estimate of moving target, moving target will be updated
Initial value of the position coordinates as next iteration；
Step S500, when coordinate modification number meets default threshold condition, then iteration, the position after output renewal are stopped
Coordinate, the position as moving target current time.
The embodiment of the present invention also provides a kind of storage device, and computer instruction, the calculating are stored in the storage device
Machine instruction makes computer perform the method that the various embodiments described above are provided.
In conclusion real-time location method and positioner provided by the invention based on UWB, method include：Positioning dress
Put obtain moving target motion state, and establish take into account velocity to moving target parameter apart from observational equation；According to movement mesh
The component of the speed parameter of target priori setting moving target in different directions, establishes and is seen on the virtual of velocity component
Survey equation；Observational equation is subjected to Taylor series expansion at the initial position co-ordinates of the moving target of pre-estimation, and simultaneous is empty
Intend observational equation, establish the positioning calculation model of moving target；Using weighted least-squares method, the position of moving target is carried out
Iterative estimate, and initial value of the position coordinates as next iteration that moving target will be updated；When coordinate modification number meets in advance
If threshold condition when, then stop iteration, the position coordinates after output renewal, the position as moving target current time.This
Invention establishes virtual observation equation by introducing the speed parameter of moving target, and establishes and take determining for velocity to moving target parameter into account
Position resolves model, can realize accurate, positioning in real time in the case where not increasing base station and laying quantity.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (10)
- A kind of 1. real-time location method based on UWB, it is characterised in that the described method includes：Step A, positioner obtains the motion state of moving target, and establishes the distance observation for taking velocity to moving target parameter into account Equation；Step B, the component of the speed parameter of moving target in different directions is set according to the priori of moving target, established Virtual observation equation on velocity component；Step C, observational equation is subjected to Taylor series expansion, and simultaneous at the initial position co-ordinates of the moving target of pre-estimation Virtual observation equation, establishes the positioning calculation model of moving target；Step D, using weighted least-squares method, estimation is iterated to the position of moving target, and moving target will be updated The initial value that position coordinates is estimated as next iteration；Step E, when coordinate modification number meets default threshold condition, then iteration is stopped, the position coordinates after output renewal, makees For the position at moving target current time.
- 2. the real-time location method according to claim 1 based on UWB, it is characterised in that the step A is specifically included：Step A1, positioner obtains different base station to the distance of moving target, analyzes the motion state of moving target, and obtain Priori on moving target；Step A2, the speed parameter of the priori estimation moving target based on moving target, obtains different base station observation luck The position coordinates of moving-target；Step A3, establish apart from observational equation；The position coordinates of moving target is expressed as during the different base station observation：Wherein,△ti=ti-t1, tiThe time of range measurement is completed with target for i-th of base station, P (x, y, z) is t1Moment corresponding fortune Moving-target position；v(vx,vy,vz) be moving target speed parameter.
- 3. the real-time location method according to claim 2 based on UWB, it is characterised in that during the different base station observation The position coordinates method for expressing of moving target is the vacation of linear motion of being remained a constant speed based on moving target in one group of observation time Produced under the premise of if.
- 4. the real-time location method according to claim 1 based on UWB, it is characterised in that described apart from observational equation table It is shown as：Wherein, diIt is the sight between i-th of base station and moving target Ranging is from (xi,yi,zi) represent the position coordinates of i-th of base station.
- 5. the real-time location method according to claim 1 based on UWB, it is characterised in that described on velocity component Virtual observation equation is：Wherein, Vx,Vy,VzFor moving target speed in different directions Component；v(vx, vy, vz) be moving target speed parameter.
- 6. the real-time location method according to claim 1 based on UWB, it is characterised in that also wrapped before the step C Include：Step C0, least square method is advanced with to estimate the initial position co-ordinates of moving target, the moving target Initial position is expressed as P0(x0,y0,z0)。
- 7. the real-time location method according to claim 1 based on UWB, it is characterised in that the positioning of the moving target Resolving model is matrix form, and is expressed as：ε=h δ, wherein,<mrow> <mi>&epsiv;</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>d</mi> <mn>01</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>d</mi> <mn>02</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>d</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <mi>d</mi> <mrow> <mn>0</mn> <mi>i</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>V</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>V</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>V</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>&delta;</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>&Delta;</mi> <mi>x</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&Delta;</mi> <mi>y</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&Delta;</mi> <mi>z</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>x</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>y</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>z</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>h</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mfrac> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>01</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>01</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>01</mn> </msub> </mfrac> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>01</mn> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mn>1</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>01</mn> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mn>1</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>01</mn> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mfrac> <mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>02</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>02</mn> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <msub> <mi>z</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>02</mn> </msub> </mfrac> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>02</mn> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mn>1</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>02</mn> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mn>1</mn> </msub> </mrow> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>z</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mn>02</mn> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> <mtd> <mo>.</mo> </mtd> </mtr> <mtr> <mtd> <mfrac> <mrow> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mrow> <mn>0</mn> <mi>i</mi> </mrow> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <msub> <mi>y</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mrow> <mn>0</mn> <mi>i</mi> </mrow> </msub> </mfrac> </mtd> <mtd> <mfrac> <mrow> <msub> <mi>z</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mrow> <mn>0</mn> <mi>i</mi> </mrow> </msub> </mfrac> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mrow> <mn>0</mn> <mi>i</mi> </mrow> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mi>i</mi> </msub> </mrow> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>y</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mrow> <mn>0</mn> <mi>i</mi> </mrow> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mi>i</mi> </msub> </mrow> </mtd> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>z</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> </mrow> <msub> <mi>d</mi> <mrow> <mn>0</mn> <mi>i</mi> </mrow> </msub> </mfrac> <msub> <mi>&Delta;t</mi> <mi>i</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow>
- 8. the real-time location method according to claim 1 based on UWB, it is characterised in that the step D is specifically included：Step D1, using weighted least square algorithm, the least-squares estimation of δ in positioning calculation model is obtained：δ=(hTQ-1h)- 1hTQ-1ε；Wherein matrix Q is the weight matrix on moving target position and speed；Step D2, estimation, the position coordinates of real-time update moving target are iterated to moving target position, and is used as next time The initial value of iterative estimate；Step D3, successive ignition estimation is carried out, and the position coordinates of moving target is updated.
- 9. the real-time location method according to claim 1 based on UWB, it is characterised in that also wrapped before the step E Include：Step E0, threshold condition is pre-set, for constraining the result of iteration, receives the estimation to moving target position Hold back to a stable value.
- A kind of 10. positioner, it is characterised in that including：Processor, the storage device being connected with processor communication, it is described to deposit Equipment is stored up to be suitable for storing a plurality of instruction；The processor is suitable for calling the instruction in the storage device, is realized with execution above-mentioned Real-time location method of the claim 1-9 any one of them based on UWB.
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