Along with the rapid development of urbanization in China, there is a contradiction between the popularization of automobiles and the slow growth of road mileage. The "Skyrail" of green new energy train is one of the means to solve the current contradiction. The driverless system used in the "Skyrail" is the highest level of full-automatic driverless system. In addition, the high requirements of rail transit for safety mean that the "Skyrail" positioning is an essential link. The most important problem in the "Skyrail" positioning is the positioning accuracy. In order to meet the high-precision requirements in the "Skyrail" positioning, according to the existing train positioning technology, we propose the "Skyrail" parking section positioning scheme and the driving tracking positioning scheme based on UWB technology.

In wireless positioning environment based on Ultra Wideband Radio (UWB), as a result of the integrated influence of several disadvantages including multipath、non-line-of-sight (NLOS) propagation 、interference and channel frequency characteristics, the measurements of the features in TDOA, TOA, AOA inevitably get some errors, leading to the performance of all sorts of positioning algorithm dropping significantly. What’s worse, greater deviation of positioning estimation emerges.Centered on the core issue –improving the positioning accuracy, on the basis of multi-base station positioning algorithm as well as the advanced single base positioning algorithm, this paper conduct a deep research of UWB wireless positioning technology from four main aspects: analysis of the multi-base station TDOA positioning algorithm, anti-NLOS high-accuracy positioning technology,hybrid positioning algorithm, single base station positioning algorithm based on antenna array.

本文首先对UWB无线通信技术和基于接收信号的到达时间差(Time Difference of Arrival, TDOA) 算法的国内外发展现状做了简单说明介绍。之后对UWB室内定位系统的应用进行了详细的说明，并对几种定位算法的实现进行了理论分析和推导。在此基础之上，通过对UWB室内定位系统的硬件模块介绍，提出了TDOA算法在嵌入式室内定位系统中的实现。最后,通过在HainanEVK实验平台进行室内定位测试，对定位结果进行误差分析并测量系统功耗。大量的实验分析和性能比较表明基于TDOA算法的UWB室内定位系统在精确定位的同时,能减少基站与终端的相互通信，从而降低系统的功耗，在-定程度上更适合于多标签大规模的室内精准定位。

本论文就如何利用阵列天线的信号到达角度（DOA）和超宽带信号的到达时间差（TDOA）来提高室内定位精度的问题进行研究。

This paper studies the TDOA location tracing algorithm based on extended kalman filter in UWB. A kind of AEKF （adaptive iteration extended kalman filter）is proposed based on the disadvantage that the EKF algorithm's positioning accuracy re⁃duces with the increase of measurement error and the simulation results show that this algorithm can maintain good positioning accu⁃racy and convergence speed during the increase of the distance-measuring error.

本公开涉及一种锂离子电池的正极材料及其制备方法、锂离子电池，该正极材料包括磷酸铁锂骨架、碳包覆层、硫包覆层和金属硫化物壳层，碳包覆层包覆在磷酸铁锂骨架的内部孔道壁和外表面上，硫包覆层填充在磷酸铁锂骨架的内部孔道并包覆在碳包覆层上，金属硫化物壳层包覆在硫包覆层上。本公开的制备方法包括：S1、将具有碳包覆层的磷酸铁锂骨架与液态硫接触；S2、将具有碳和硫复合包覆层的磷酸铁锂在有机溶剂中与金属前驱体在回流条件下接触。本公开的锂离子电池包括负极材料和所述的正极材料。本公开的正极材料能有效抑制多硫化物的溶出，本公开的电池容量和循环性能进一步得到显著提高。

本实用新型公开了一种电池和具有其的电池模组、电池包，电池包括：壳体，壳体的一端敞开，壳体的形状为正多棱柱形；盖体，盖体设在壳体的所述一端，盖体与壳体共同限定出容纳空间，盖体上设有负极端子和多个正极端子，多个正极端子沿盖体的周向间隔设置；极芯，极芯设在容纳空间内。根据本实用新型的电池，可以增大极芯的容量，且壳体内可以容纳更多的电解液，以延长极芯的使用寿命，从而可以延长电池的使用寿命，同时在将多个电池连接为电池模组时，有效提高了外部空间利用率，避免电池短路或断路，电池能够满足各种尺寸电池模组的排布需求，以使电池模组适用于各种环境。