直流充电设备通用技术规范-功率控制模块与充电模块通信协议
Communication protocols between power comtrol module of off-board conductive charger and chargering module for electric vehicle

本部分规定了电动汽车非车载传导式充电机功率控制模块与充电模块之间基于控制器局域网（Control Area Network，以下简称CAN）的通信物理层、数据链路层、交互流程、报文分类、报文格式和内容的定义。
本部分适用于电动汽车非车载传导式充电机功率控制模块与充电模块之间的通信。

UWB ( Ultra Wide Band) technology is a new indoor positioning technology which has been widely studied for its low power consumption， high positioning accuracy and strong penetration ability. In this paper， based on the TDOA ( time difference of arrival) measurement method， UWB tags are used to send signals to multiple base stations to obtain the time stamp difference between tags and each base station， and the movement position of the tag is solved in real time by the Chan algorithm. The “current” statistical model is established， the iterative process of Kalman filtering is improved by setting the threshold， and them the improved adaptive Kalman filter algorithm is used to eliminate the influence of non line of sight error and noise on TDOA location so that the indoor positioning accuracy of TDOA is more accurate. Experiments show that the TDOA positioning method based on adaptive Kalman filter has high accuracy.