Research Article
Anti-collision Device of DSTWR and SFKF Hybrid Positioning Vehicle
@INPROCEEDINGS{10.1007/978-3-030-62483-5_11, author={AnHua Wang and HongKai Ding and DongDong Wan}, title={Anti-collision Device of DSTWR and SFKF Hybrid Positioning Vehicle}, proceedings={Green Energy and Networking. 7th EAI International Conference, GreeNets 2020, Harbin, China, June 27-28, 2020, Proceedings}, proceedings_a={GREENETS}, year={2020}, month={11}, keywords={Anti-collision of the vehicle Ultra-wideband Positioning Kalman filter}, doi={10.1007/978-3-030-62483-5_11} }- AnHua Wang
HongKai Ding
DongDong Wan
Year: 2020
Anti-collision Device of DSTWR and SFKF Hybrid Positioning Vehicle
GREENETS
Springer
DOI: 10.1007/978-3-030-62483-5_11
Abstract
In order to suppress the hidden danger brought by the blind area of construction vehicles, a vehicle collision prevention device is designed. The realization method is introduced in the paper. Combined with DSTWR and SFKF algorithm, UWB detection technology is applied to achieve reliable ranging and positioning. It is found through one-to-many ranging experiment that the maximum static absolute error is 0.093 m, the average static error is 0.37 m, and the maximum static relative error is 0.0106; the maximum dynamic absolute error is 0.15 m, the average dynamic error is 0.073 m, and the maximum dynamic relative error is 0.0174. The positioning experiment shows that the maximum errors along the direction of the three axes are 0.17 m, 0.29 m, and 0.45 m, and the average position error of the node is about 0.241 m. The experimental results show that the proposed method satisfies the actual functional requirements, and can ensure stable detection with high speed and accuracy. The large error and track discontinuity under the action of motion and vibration factors can be effectively suppressed by the method, which has application value.
