摘 要

近些年来，无线定位技术逐渐发展为获取室内环境中位置信息的主要途径，在通信行业被广泛研究，它具有价格低廉、抗干扰性能好、穿透力强的优点；ROS系统作为一个开源的机器人操作系统在产业界和学术界中获得，本文基于这些特性设计了一个基于UWB技术的室内定位系统，该系统通过上位机与了广泛的关注和应用下位机之间的串口数据通信实现了室内定位和目标物体轨迹实时显示的功能。

本文以高精度室内定位需求为出发点，以DecaWave公司的高精度集成模块DWM1000作为UWB(Ultra－wideband，超宽带)无线收发模块，以ST公司的高性能STM32F103C8T6芯片作为主控制器，搭建了室内定位系统下位机的硬件；以Ubuntu16.04下的ROS系统为平台进行节点设计并搭建了上位机，设计完成了超宽带室内定位系统。

在下位机上，以STM32F103C8T6作为主控制器、DWM1000模块作为通信模块构建了定位系统下位机硬件部分。软件设计部分首先利用双向测距(DS-TWR)机制精确估计锚节点和标签节点之间的距离，然后通过到达时间(TOA)定位算法解算标签坐标并采用互补滤波算法进行误差消除，最终标签将测距信息通过串口模块发送给上位机软件处理。

在上位机中，设计节点my_serial_node利用官方Serial包读取串口数据后，将数据封装成消息格式后发布主题sensor；设计节点my_serial_listenner订阅主题sensor并实时显示位置信息；设计节点listenner_showpath将位置信息封装成nav_msgs/Path.msg类型并发布主题command；RVIZ软件订阅主题command并实时显示下位机中标签节点位置。从而完成高精度的室内实时定位系统(RLTS)的设计与实现。

经测试，本文设计的室内定位系统可以实现以上所有功能。

关键词：UWB；DWM1000；实时室内定位系统；ROS节点设计

Abstract

In recent years, wireless positioning technology has gradually developed into the main way to obtain location information in indoor environments. It has been widely studied in the communication industry. It has the advantages of low price, good anti-interference performance and strong penetrating power; ROS system as an open source The robot operating system is obtained in the industry and academia. Based on these characteristics, this paper designs an indoor positioning system based on UWB technology. The system realizes indoors through the serial port data communication between the host computer and the extensive attention and application of the lower computer. The function of positioning and real-time display of the target object trajectory.

This paper takes the high-precision indoor positioning demand as the starting point, and uses DecaWave's high-precision integrated module DWM1000 as UWB (Ultra-wideband) wireless transceiver module, and uses ST's high-performance STM32F103C8T6 chip as the main controller to build indoor positioning. The hardware of the system's lower computer; the ROS system under Ubuntu16.04 is used as the platform for node design and the host computer is built, and the ultra-wideband indoor positioning system is designed.

On the lower computer, the STM32F103C8T6 is used as the main controller and the DWM1000 module is used as the communication module to construct the hardware part of the positioning system lower computer. The software design part firstly uses the two-way ranging (DS-TWR) mechanism to accurately estimate the distance between the anchor node and the tag node, then solves the tag coordinates by the time of arrival (TOA) positioning algorithm and uses the complementary filtering algorithm for error elimination. The ranging information is sent to the host computer software through the serial port module for processing.

In the host computer, the design node my_serial_node uses the official Serial package to read the serial port data, encapsulates the data into a message format and then issues the theme sensor; the design node my_serial_listenner subscribes to the theme sensor and displays the location information in real time; the design node listenner_showpath encapsulates the location information into nav_msgs /Path.msg type and publish the theme command; RVIZ software subscribes to the theme command and displays the location of the tag node in the lower computer in real time. Thereby completing the design and implementation of a high precision indoor real time positioning system (RLTS).

After testing, the indoor positioning system designed in this paper can achieve all the above functions.

Key words: UWB; DWM1000; real-time indoor positioning system; ROS node design

目录

摘 要 I

Abstract II

第一章 绪论 1

1.1研究的背景及意义 1

1.2国内外研究现状 1

1.2.1国外研究现状 1

1.2.2国内研究现状 2

1.3 研究的基本内容 2

1.4论文结构安排 3

第二章 UWB定位系统下位机设计 5

2.1UWB定位工作原理 5

2.1.1DS-TWS测距 5

2.1.2DS-TWR测距的改进 6

2.1.3TOA定位模型 7

2.2下位机硬件设计 8

2.2.1下位机硬件结构组成 8

2.2.2主控制器模块 9

2.2.3串口通信模块 12

2.2.4电源电路模块 12

2.3下位机嵌入式软件设计 13

2.3.1软件总体设计 14

2.3.2SPI时序 15

2.3.3UWB通信帧 15

2.3.4程序设计框图 17

2.4 本章小结 20

第三章 室内定位系统上位机节点设计 21

3.1ROS简介 21

3.1.1ROS概述 21

3.1.2 ROS术语 21

3.2RVIZ简介 23

3.2.1RVIZ概述 23

3.2.2nav_msgs/Path.msg 23

3.2.3轨迹的显示 24

3.3节点程序的编写 24

3.3.1读取串口数据节点 24

3.3.2显示串口数据节点 25

3.3.3标签路径显示节点 25

3.4本章小结 26

第四章 系统的测试与结果 27

4.1下位机的测试 27

4.2上位机的测试 29

4.3本章小结 31

第五章 总结与展望 32

5.1总结 32

5.2展望 32

参考文献 34

致谢 35

第一章 绪论

1.1研究的背景及意义

如今，随着互联网、电子通信相关技术的迅猛发展，各行各业对于定位技术的需求已经无法由单纯的室外导航技术满足，室内环境下的高精度导航需求不断增加。然而，结构复杂、多障碍物的室内场合的定位需求无法由传统的室外导航定位技术（GPS技术）满足，因此高精度的室内定位技术受到学术界和产业界的高度重视^[1]。

UWB(Ultra－wideband)技术广泛应用于室内定位领域。UWB信号能以极窄脉冲、较宽带宽传输数据，在抗干扰性、传输速率、工作功率等方面表现十分优秀^[2]。因此，基于UWB技术的室内定位技术能够大幅提升定位系统的定位精度^[3]。