基于虚拟力的危化品仓储堆垛定位校正算法

超宽带定位技术作为一种室内高精度定位技术是解决危化品仓库堆垛贮存状态安全监测的有效方法，但在仓库非视距环境中，存在定位精度不足的问题，无法满足堆垛“五距”安全的监管要求。针对此问题，从UWB信号的信道模型和定位精度影响因素出发，利用高斯滤波消除了参考点在定位过程中由于系统和环境带来的随机误差影响，建立了参考点误差矢量库，并提出了一种虚拟力校正算法，利用建立的矢量库来对待测标签进行矢量补偿，达到提高定位精度的目的。实验表明，该方法可以提高危化品仓储堆垛定位精度，适用于监测危化品仓储状态。

Location correction algorithm of hazardous chemicals storage stacking based on virtual force

As an indoor high-accuracy location technology, the ultra-wideband (UWB) location technology is an effective method to solve the safety monitoring on the storage status of stacking in the hazardous chemicals warehouse, but there is a problem of insufficient location accuracy in the non-line-of-sight environment of warehouse, which can't meet the supervision requirements on the five-distance safety of stacking. Aiming at this problem, starting from the channel model of UWB signals and the influence factors of location accuracy, the random error influence of the reference point caused by the system and the environment during the location process was eliminated by using the Gaussian filter, and a vector library of reference point error was established. A correction algorithm based on virtual force was put forward, and the vector compensation on the tag to be tested was carried out by using the established vector library, so as to improve the location accuracy. The experimental results showed that this method can improve the location accuracy of the hazardous chemicals storage stacking, and it is suitable for monitoring the storage status of hazardous chemicals.