Feature fusion method for UWB angle of arrival estimation under non-line-of-sight conditions

ZENG Wenmin; ZHENG Bofeng; LIU Jinting; BAO Yachuan; YIN Jikai; LI Jianjia; ZHANG Tingting

doi:10.11959/j.issn.2096-3750.2025.00495

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Feature fusion method for UWB angle of arrival estimation under non-line-of-sight conditions

Theory and Technology | 更新时间：2026-01-04

- Feature fusion method for UWB angle of arrival estimation under non-line-of-sight conditions
- Chinese Journal on Internet of Things Vol. 9, Issue 4, Pages: 51-61(2025)
- 作者机构：
  
  1.哈尔滨工业大学（深圳）空天网络与智能感知重点实验室，广东深圳 518000
  2.香港科技大学（广州）物联网学域，广东广州 511453
  3.中国电子科技集团公司第五十四研究所综合时空网络与装备技术全国重点实验室，河北石家庄 050081
  4.中国电子科技集团公司第五十四研究所，河北石家庄 050081
- 作者简介：
- 基金信息：
  
  The Natural Science Foundation of China(62171160);Guangdong Provincial Key Laboratory (2024)(2024KSYS023);Shenzhen Key Laboratories(ZDSYS20210623091808025);Major Key Project of PCL(PCL2024A01);The Open Fund of the State Key Laboratory of Satellite Navigation System and Equipment Technology(CEPNT2022A03);The Technology Development (Commissioned) Project of the 54th Research Institute of China Electronics Technology Group Corporation(HX20210106)
- DOI：10.11959/j.issn.2096-3750.2025.00495
  CLC：
- Received：05 March 2025，
  
  Revised：2025-06-10，
  
  Published：10 December 2025
- 稿件说明：
移动端阅览
曾文敏,郑柏烽,刘晋廷等.非视距条件下基于特征融合的UWB到达角估计方法[J].物联网学报,2025,09(04):51-61.

ZENG Wenmin,ZHENG Bofeng,LIU Jinting,et al.Feature fusion method for UWB angle of arrival estimation under non-line-of-sight conditions[J].Chinese Journal on Internet of Things,2025,09(04):51-61.
曾文敏,郑柏烽,刘晋廷等.非视距条件下基于特征融合的UWB到达角估计方法[J].物联网学报,2025,09(04):51-61. DOI： 10.11959/j.issn.2096-3750.2025.00495.

ZENG Wenmin,ZHENG Bofeng,LIU Jinting,et al.Feature fusion method for UWB angle of arrival estimation under non-line-of-sight conditions[J].Chinese Journal on Internet of Things,2025,09(04):51-61. DOI： 10.11959/j.issn.2096-3750.2025.00495.

摘要

超宽带（UWB

ultra-wideband）技术能够提供高精度的定位信息，在室内定位中具有显著优势。到达角（AOA

angle of arrival）估计作为UWB定位的关键技术之一，对提高定位精度至关重要。然而，在实际应用中，UWB AOA估计面临着诸多挑战，尤其是在非视距（NLOS

non-line-of-sight）、天线硬件损伤、环境变化情况等复杂情况下，这些因素会造成信号失真和测量偏差，从而降低估计的精度，而传统的建模方法往往难以有效处理这些非线性问题。因此，设计了一种基于特征融合的UWB AOA估计方法。该方法融合了CIR数据和双天线接收信号特征，并引入Transformer编码器对复杂信号进行深度挖掘，以提升AOA估计的精度。实验结果表明，所提方法在NLOS条件下可以实现高精度的AOA估计。

Abstract

Ultra-wideband (UWB) technology is recognized for its ability to provide high-precision positioning information

offering significant advantages in indoor positioning. Angle of arrival (AOA) estimation

as one of the key technologies in UWB positioning

is considered crucial for improving positioning accuracy. However

in practical applications

UWB AOA estimation is faced with numerous challenges

particularly in complex environments such as non-line-of-sight (NLOS) conditions

antenna hardware impairments and environmental variations. These factors are known to cause signal distortion and measurement deviations

thereby reducing estimation accuracy. Traditional modeling methods are often found inadequate in effectively addressing these nonlinear issues. Therefore

a feature fusion-based UWB AOA estimation method was designed. This approach integrated channel impulse response (CIR) data and dual-antenna received signal features

while a Transformer encoder was introduced to deeply analyze complex signals

thereby enhancing AOA estimation accuracy. Experimental results demonstrated that the proposed method could achieve high-precision AOA estimation under NLOS conditions.

关键词

Keywords

references

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