Research on Localization Techniques in Occluded Environments Based on Lora Signals

Aiming at the problems of positioning failure, multipath fading, signal power attenuation, and high energy consumption faced by BeiDou satellite navigation signal propagation in a sheltered environment, this paper proposes a logarithmic distance path loss model of Lora signal by utilizing the long-distance and low-energy propagation characteristics of Lora signal. Based on verifying the correctness of the model, the Lora+RTK+ Unmanned Aerial Vehicle (UAV) positioning system is constructed, two typical scene models of the plaza and dense forest area are selected, and the ranging error is corrected based on the Kalman filtering method, in the plaza scene, after optimization of Kalman filtering, the error of x-axis is 3.15m, the error of y-axis is 0.8m, and the error of z-axis is -2.30m; and in the dense forest scene, the x-axis error is -4.77m, the y-axis error is 1.40m, and the z-axis error is 5.60m, which improves the accuracy of the algorithm from the perspective of real measurement.