In the process of tunnel construction, the problems of strong sealing, inconvenient communication, and harsh environment\npose a serious threat to the personal safety of construction workers. Therefore, personnel positioning technology has important\napplication value in tunnel safety construction. A special environment for tunnel personnel positioning and the ultrawideband\n(UWB) positioning system are affected by personnel movement, which leads to the problem of lowering positioning accuracy.\nA wavelet threshold denoising method for motion positioning of people in tunnels is proposed. The positioning algorithm of\nthe method adopts a three-sided positioning algorithm based on symmetric double-sided two-way ranging. The wavelet\nanalysis is used to decompose the motion signal of the personnel in the tunnel, and the low frequency coefficient and high\nfrequency coefficient of the signal are decomposed to determine the influence of the motion noise of the personnel on the UWB\npositioning. The soft threshold function and the hard threshold function are, respectively, selected to perform wavelet\nthreshold denoising on the motion positioning result in the tunnel. According to the denoising effect, the db5 wavelet 5-layer\ndecomposition, under the heuristic threshold estimation criterion, the soft threshold function denoising is the best denoising\nmethod. The verification by the positioning experiment shows that the method is suitable for tunnel personnel positioning. The\nwavelet threshold denoising method can weaken the influence of outliers in the motion positioning of UWB personnel and\nimprove the positioning accuracy.
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