With the development of the service industry based on location information, indoor positioning technology has been increasingly concerned and studied. Due to the centimeter-level positioning accuracy,indoor positioning technology based on UWB is playing a more and more important role in the industrial application field. In UWB indoor positioning, the signal will inevitably be blocked by various obstacles, so the non-line-of-sight environment composed of various obstacles will reduce the indoor positioning accuracy. Therefore, it is urgent to solve the problem of non-line-of-sight error caused by obstacles in UWB indoor positioning.

Abstract：In thc harsh working environment of mines，the traditional cable reeling method cannot guarantee the power supply of electric shovel for a long time， and there are hidden safety hazards in the process of power supply． A new cable reel car which follows the shovel is proposed to address the above problems．In order to realize the autonomous following of electric shovel by cable reel car and ensure the 1。ng time power supply of electric shovel in mining environment，the positioning algorithm of electric mine shovel based on uItra wide band(UWB)technology is proposed and time difference of arrival(TDOA) aigorithm is used to construct the positioning model of electric mine shovel．Based on the TDOA ranging algorithm，the di Stance from each base station to the target electtic shovel position is measured and the difference is calculaled．The distance difference information obtained is moving average filtered to suppress the noise generated in the ranging process and achieve smooth data．The tag position is calculated according 10 the distance difference after fihering correction．The target electric shovel position is tracked with the strong tracking extended Kalman fiher(STFEKF)algorithm to further eliminate noise and improve the positioning accuracy of the target electric shovel during movement．The simulation results show that under the influence of different Observation noises，the error of the moving filter+STFEKF positioning method is smaller than that of the traditional EKF algorithm．This method effectively solves the problem of positioning error increasing with the distance increasing or the sudden change of shovel movement．The positioning mean square deviation is reduced by more than 70％compared with the traditional EKF algorithm，and the positioning traj ectory is closer to the real movement traj ectory of the target with good performance of positioning tracking and noise suppression．

Due to the complex and changeable indoor environment and scene, the ultra-wideband (UWB) signal is blocked and weakened by indoor obstacles during transmission, resulting in a non-line-of-sight (NLOS) error that affects the indoor positioning accuracy, and also makes the actual positioning process. The label location and trajectory route are confusing. Based on the existing UWB indoor positioning system, this paper studies the UWB positioning method,positioning optimization algorithm and trajectory optimization method,aiming at the difficulty of weakening the NLOS error and correcting the travel trajectory of personnel.

With the rapid development of the intelligent manufacturing, the research and application of industrial indoor positioning technology have developed rapidly. In industrial production, the indoor positioning technology can be used to locate and track goods, personnel, dangerous goods, etc., thereby helping to simplify management,improve production efficiency, and reduce production risk factors. At present, most indoor positioning systems have the problem of floating positioning coordinates during positioning, and the problem of positioning failure caused by abnormal positioning data.The occurrence of these problems will greatly reduce the positioning accuracy and stability of the positioning system. At the same time, most of the current indoor positioning algorithms are positioned in a two-dimensional coordinate system, and there is a problem that they cannot truly reflect the height coordinates of the tag nodes.Therefore, in this paper, the research and testing of indoor positioning algorithms are carried out in a three-dimensional coordinate system.

Key Technologies of Large-Scale Indoor Ultra- Wideband Iocalization Network

Ultra Wide Band (UWB) technology interests many scholars in the world, because it is a totally new communication technology which is different with the traditional ones.There is great value of UWB technology in communication, radar and locating domain.Comparing with traditional wireless communication technology such as Bluetooth,IEEE802.11, UWB is preferred in indoor locating because of its high transmission rate,high system capacity, low power consumption, good anti-multipath performance, goodpenetrability and high locating accuracy. The locating for moving objects based on UWB and wireless sensor network is a popular research topic recently. Currently, manycountries are focusing on the research and development of UWB locating technology and the relative products to monopoly the UWB market. Lots of famous universities andlaboratories are doing the research about the UWB technology, and many UWB locating systems are designed suecessfully.

As the new generation information technology and manufacturing industry get integtated, location based service (LBS) is of significant importance to solve the problems incurred by the digitalization and networking in the production process. Being the fundamental technology of LBS, indoor localization plays an indispensable role in realizing intelligent manufacture. However, when conventional indoor localization system is applied in complex, dynamic and unstructured industry environments, its performance is seriously degraded. There are still many challenges in framework design,location estimation, data transmission and information processing. Thus, it is urgent to carry out the in-depth study of a complete technical system, which is an important direction for complex industrial environment. To meet the demands of industrial scenarios, some key problems such as system framework, localization model, network,data processing are studied. An indoor localization system for complex industrial environments is proposed in this dissertation.

Research on TDOA Location Algorithm for Ultra-wideband Precision Real-Time Iocation System

本文选用超宽带(uwB)技术作为基础，以实现高精度室内人员定位的要求。文中选用IEEE802．15．4a模型作为uwB的信道模型，利用Matlab软件仿真uwB发射及接收信号，通过wylie算法鉴别目标节点与参考节点间的Los和NLos传播，筛选出性能更优的参考节点，更新到达时间差，得到较为准确的初值估计，保证之后的算法收敛。同时推算出可靠度最高的参考节点与目标节点的方位角、俯仰角信息，将其代入基于泰勒级数的TDoA／AoA混合算法后，进行三维定位，最后利用Maclab模拟及分析不同算法三维定位情况。与其他算法相比，优化后的混合算法在各种情况下均表现出了更为良好的定位精度，显示了其应用于室内定位的优势。

With the presentation of ″Internet+″ and continuous development of Internet of Things technology，the scenes to locate the staff and goods are increasing. At the same time，the demands of emerging fields（such as security monitoring，aero⁃space，unmanned industrialization operation，seas exploration，digital tourism）for indoor positioning are growing. To satisfy dif⁃ferent requirements，various positioning technologies were developed by the academia and industry，but they have great dif⁃ferences in the aspects of positioning applicability，positioning accuracy，etc. In comparison with other positioning methods，the UWB（ultra wideband）positioning technology has the unique advantages in positioning accuracy，real⁃time performance and data scalability. In this paper，the algorithm based on TDOA（time difference of arrival） was improved to reduce the difficulty of clock synchronization，and in combination with Kalman filtering，the error interference in transmission process was eliminated.The method can make the indoor positioning more accurately.