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.

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.

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．

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.

With the rapid development of indoor location-based services (LBS), indoor 3D positioning technology has gradually become one of the research hotspots. Among the popular indoor 3D positioning methods, Ultra-wideband (UWB) has become the first choice due to its unique technical advantages. UWB three-dimensional positioning technology can be divided into two types: measurement-based and fingerprint-based matching. In a complex and dynamic indoor environment, these two types of methods have the following problems: 1. The measurement value is susceptible to environmental influences, which makes the accuracy of the positioning algorithm based on the measurement method decrease; 2. The change in the indoor environment makes the fingerprint library invalid, which increases This reduces the cost of maintaining and updating the fingerprint database, and reduces the accuracy of fingerprint-based matching algorithms. This paper studies the above two issues in depth and proposes corresponding improved algorithms. The main contents and innovations are as follows:

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Matlab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。

Now the Global Positioning System (GPS) and Beidou Satellite Navigation System (BDS) these two kinds of outdoor positioning system technology is increasingly mature,But compared with the rapid development of modern outdoor positioning technology, the indoor positioning was not respected by people, the indoor positioning this research topicis also slowly walked into people's horizons. Compared with the outdoor environment, the indoor environment is more complex, and the application of the previous outdoorpositioning technology in the indoor environment is far from a good positioning effect. In recent years, Ultra Wide Band(UWB) technology has become one of the most popularresearch topics in indoor positioning field due to its advantages of strong anti-interference ability, high precision and low power consumption.

With the development of intelligent manufacturing, various service-oriented indoor robots have brought great convenience to people's lives. The prerequisite for robots toachieve specific services is to be able to achieve autonomous and precise positioning. UWB technology is a pulse communication technology that uses extremely narrow pulse signals to transmit data. It has the characteristics of low cost, low power consumption and simple system transceiver structure. It has great advantages in the field of high-precision indoor positioning. Through the research of UWB technology, this subject designs an indoor robot positioning system based on UWB, which has the characteristics of high real-time, high precision and low complexity, and can meet the needs of indoor robot positioning. The research of indoor robot positioning system based on UWB mainly includes the design of ranging scheme, the simulation and realization of ranging and positioning algorithm, the design and driving of hardware system, the writing of upper computer code, and the verification of UWB indoor robot positioning platform. The work of this thesis is as follows:

With the development of science and society, the requirement of people for location survice change from outdoor location and navigation to indoor location survice.GPS is a mature technology, but is not fit for indoor location because of the shield wall, so many indoor technology come out, such as UWB, Ultrasonic, WiFi and UHF-RFIDand so on.Ultra Wide Band (UWB) technology has strong penetrability, low power dissipation, multipath effect high-resolution, high security, high location accuracy andso on. So this paper delve into distance measurement and location algorithm based on UWB, and combine differential method in order to correct location coordinate, realisehigh-accuracy real time location of under-test tag in three-dimentional space.

As wireless devices become more and more integrated into our daily lives, people's demand for wireless network information is also increasing, such as location, time, temperature, direction, etc. where the location of people or objects is the most important. There is GPS positioning technology outdoors, which can basically achieve meter-level accuracy and can meet the needs of daily life. Therefore, the research on indoor positioning technology is more important. As a new technology in recent years, Ultra-Wide-Band (UWB) signals are widely used in indoor positioning systems due to their advantages of narrow pulse, large bandwidth, and high time resolution. This article aims to analyze the performance of different UWB-based positioning algorithms by analyzing UWB signals, and improve and optimize the errors generated by positioning and ranging. The main research contents of this article are as follows: