面向室内行人的Range-only UWB/INS紧组合导航方法

为了提高室内行人组合导航系统的精度和灵活性,提出了一种Range-only超宽带(UWB)/惯性导航系统(INS)紧组合导航方法。该方法将锚点的位置信息引入到系统状态变量中并通过数据融合滤波器进行预估,以克服传统UWB/INS紧组合导航模型中需要预先获取锚点位置信息的缺点,减少锚点位置信息精度对组合导航系统的影响。在此基础上,利用迭代扩展卡尔曼滤波(IEKF)来完成组合导航系统的数据融合滤波,以提高对目标行人导航信息的预估精度。实验结果显示,所提方法的平均绝对位置误差与传统UWB/INS紧组合方法相比降低了11.69%,算法对锚点位置信息的依赖程度也显著降低。

Range only UWB/INS tightly coupled integrated navigation method for indoor pedestrian

In order to improve the precision and flexibility of the integrated navigation system for indoor pedestrian, a range only ultra wideband (UWB)/ inertial navigation system (INS) tightly integrated navigation method is proposed. The position information of the anchor node is introduced into the system state variable and pre estimated with the data fusion filter, which is capable to overcome the shortcoming of the traditional UWB/INS tightly coupled navigation model that the anchor node position information should be obtained in advance. This can reduce the impact of the anchor node position information on the precision of the integrated navigation system. On this basis, the iterative extended Kalman filter (IEKF) is utilized for the data fusion filtering to improve the estimation accuracy of the pedestrian navigation information. Experimental results show that the proposed method can reduce the average position error by about 11.69% compared with the traditional UWB/INS tightly coupled method, and the dependence on the anchor node position information is also significantly decreased.