In recent years, indoor positioning systems (IPS) are increasingly very important for a smart factory, and the Lora positioning system based on round-trip time (RTT) has been developed. This paper introduces the ranging characterization, RTT measurement, and position estimation method. In particular, a particle filter localization method-aided Lora pseudorange fitting correction is designed to solve the problem of indoor positioning; the cumulative distribution function (CDF) criteria are used to measure the quality of the estimated location in comparison to the ground truth location; when the positioning error on the -axis threshold is 0.2 m and 0.6 m, the CDF with pseudorange correction is 61% and 99%, which are higher than the 32% and 85% without pseudorange correction. When the positioning error on the -axis threshold is 0.2 m and 0.6 m, the CDF with pseudorange correction is 71% and 99.9%, which are higher than the 52% and 94.8% without pseudorange correction.

中文翻译：

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Lora RTT测距特性和室内定位系统

近年来，室内定位系统（IPS）对于智能工厂越来越重要，并且已经开发了基于往返时间（RTT）的Lora定位系统。本文介绍了测距特性，RTT测量和位置估计方法。为了解决室内定位问题，特别设计了一种基于粒子滤波定位方法的Lora伪距拟合校正方法。累积分布函数（CDF）标准用于测量估计位置与地面真实位置相比的质量；当-轴阈值上的定位误差为0.2 m和0.6 m时，带有伪距校正的CDF为61％和99％，高于没有伪距校正的CDF为32％和85％。当定位错误-轴阈值为0.2 m和0.6 m，带伪距校正的CDF为71％和99.9％，高于没有伪距校正的52％和94.8％。