本论文就如何利用阵列天线的信号到达角度（DOA）和超宽带信号的到达时间差（TDOA）来提高室内定位精度的问题进行研究。

本文首先对UWB无线通信技术和基于接收信号的到达时间差(Time Difference of Arrival, TDOA) 算法的国内外发展现状做了简单说明介绍。之后对UWB室内定位系统的应用进行了详细的说明，并对几种定位算法的实现进行了理论分析和推导。在此基础之上，通过对UWB室内定位系统的硬件模块介绍，提出了TDOA算法在嵌入式室内定位系统中的实现。最后,通过在HainanEVK实验平台进行室内定位测试，对定位结果进行误差分析并测量系统功耗。大量的实验分析和性能比较表明基于TDOA算法的UWB室内定位系统在精确定位的同时,能减少基站与终端的相互通信，从而降低系统的功耗，在-定程度上更适合于多标签大规模的室内精准定位。

包含内容:

• 设计流程
• CAN通信矩阵设计
• 网关报文和路由设计

In wireless positioning environment based on Ultra Wideband Radio (UWB), as a result of the integrated influence of several disadvantages including multipath、non-line-of-sight (NLOS) propagation 、interference and channel frequency characteristics, the measurements of the features in TDOA, TOA, AOA inevitably get some errors, leading to the performance of all sorts of positioning algorithm dropping significantly. What’s worse, greater deviation of positioning estimation emerges.Centered on the core issue –improving the positioning accuracy, on the basis of multi-base station positioning algorithm as well as the advanced single base positioning algorithm, this paper conduct a deep research of UWB wireless positioning technology from four main aspects: analysis of the multi-base station TDOA positioning algorithm, anti-NLOS high-accuracy positioning technology,hybrid positioning algorithm, single base station positioning algorithm based on antenna array.

Along with the rapid development of urbanization in China, there is a contradiction between the popularization of automobiles and the slow growth of road mileage. The "Skyrail" of green new energy train is one of the means to solve the current contradiction. The driverless system used in the "Skyrail" is the highest level of full-automatic driverless system. In addition, the high requirements of rail transit for safety mean that the "Skyrail" positioning is an essential link. The most important problem in the "Skyrail" positioning is the positioning accuracy. In order to meet the high-precision requirements in the "Skyrail" positioning, according to the existing train positioning technology, we propose the "Skyrail" parking section positioning scheme and the driving tracking positioning scheme based on UWB technology.