基于惯性导航与UWB的联合定位算法  

Combined positioning algorithm based on inertial navigation and UWB

作　　者：赵洪亮[1] 李锐君[2] 宋杨[3] 侯维岩[1] 

机构地区：[1]郑州大学信息工程学院,河南郑州450001 [2]郑州大学西亚斯国际学院,河南郑州451150 [3]上海大学机械自动化学院,上海200072

出　　处：《安徽大学学报（自然科学版）》2017年第3期90-96,共7页Journal of Anhui University(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61573237);河南省科技厅2015重点科技攻关项目(152102210344)

摘　　要：为提高无GPS情况下的3维定位精度,提出基于惯性导航与UWB(超宽带技术)的联合定位算法.该算法将线性最小二乘法的航迹计算与定位点拟合进行融合,使用加权平均对信赖度因子进行权衡.为验证算法的有效性,设计了1套UWB与9轴惯性导航模块结合的软硬件平台.仿真和实际测试结果表明:该算法可将3维定位误差控制在20cm以内.In order to improve three-dimensional（3D） positioning accuracy without the global positioning system（GPS）, a combined positioning algorithm based on inertial and UWB （ultra wide band） was proposed. The algorithm combined with ideas of the track estimation which was based on the linear least squares method and the fitting thought and used the weighted mean thought to weight the dependable factors. For verifying the algorithm＇s availability, a hardware and software platform uniting UWB and nine-axis inertial navigation modules was designed. The simulation and practical testing results showed that the algorithm could control 3D positioning errors within 20 cm.

关 键 词：惯性导航 UWB 加权平均 

分 类 号：P228[天文地球—大地测量学与测量工程] TP274[天文地球—测绘科学与技术]