一种采用联邦EKF的分布式INS/UWB人员无偏紧组合定位方法（英文）  

Distributed unbiased tightly-coupled INS/UWB human localization via federated EKF

作　　者：徐元[1] 陈熙源[2,3] 崔冰波[2,3] 王滨[1] XU Yuan CHEN Xi-yuan CUI Bing-bo WANG Bin(School of Electrical Engineering, University of Jinan, Jinan 250022, China School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Nanjing 210096, China)

机构地区：[1]济南大学自动化与电气工程学院,济南250022 [2]东南大学仪器科学与工程学院,南京210096 [3]东南大学微惯性仪表与先进导航技术教育部重点实验室,南京210096

出　　处：《中国惯性技术学报》2017年第1期81-85,共5页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金资助项目(51375087);山东省自然科学基金项目(ZR2014FP010);济南大学博士基金项目(XBS1503)

摘　　要：为了实现精确的人员定位,提出了一种采用联邦EKF的分布式INS/UWB人员紧组合定位方法。在这种模式下,将数据融合滤波器应用于UWB无线通信信道中。INS与UWB分别测量得到的参考节点到未知节点之间距离的平方值被用于预估INS的导航解算误差。在此基础上,主滤波器将各信道滤波器的预估值进行数据融合,最后得到最终的INS导航解算误差预估。实验结果显示,该方法能够准确地提供人员位置信息,与集中式滤波器相比,平均位置误差降低了10.34%左右。In order to achieve accurate human localization, a distributed unbiased tightly-coupled INS/UWB（Inertial Navigation System/Ultra Wideband） integrated human localization method via federated EKF is proposed. In this mode, the data fusion filter is applied into the UWB communication channel. The differences between the distances from Reference Node to Blind Node measured via INS and UWB are calculated as the squared values, which are used to estimate the INS error. The estimation value of each channel filter is used by the main filter for the final output value. Experimental results show that the proposed method can provide accurate human position information, and reduces the mean position error by about 10.34% compared with the centralized-based method.

关 键 词：人员定位 惯性导航系统 卡尔曼滤波 联邦EKF 

分 类 号：TN967.3[电子电信—信号与信息处理]