Location Method for High-Voltage Laboratory Workers Based on Sage-Husa Adaptive Kalman Filtering

The high-voltage live working laboratory contains high-voltage and high-current equipment, which poses significant safety risks. Therefore, the accurate positioning of the personnel working in the laboratory is of vital importance. To prevent safety risk for personnel in the complex environment of high-voltage live working laboratory, this paper proposes a high-precision indoor personnel localization method based on Ultra-Wideband technology. The improved Sage-Husa adaptive Kalman filter is employed to suppress non-line-of-sight (NLOS) random noise. Firstly, a fuzzy adjustment factor is introduced to modify the observer noise covariance estimator to prevent filter divergence. Secondly, the innovation vector is utilized to construct a criterion for NLOS detection, which enables the automatic identification and rejection of abnormal observations, thereby improving the filtering accuracy. The experimental results indicate that, compared with the standard Kalman filter method, the optimized method proposed in this paper can significantly enhance the positioning accuracy and anti-interference capability in high-voltage laboratory. The maximum value of the root-mean-square error (RMSE) for static positioning is 6.84 cm, with a positioning accuracy improvement of 29.6%. The average error for dynamic positioning is 26.42 cm, with a positioning accuracy improvement of 39.1%. These enhancements effectively meet the personnel positioning requirements in the complex environment of high-voltage laboratory.