复杂坏境下基于SINS/UWB的容错组合定位技术研究  

Fault tolerant integrated positioning system based on SINS/UWB in complex environment

作　　者：杨海 李威[2] 张禾[1] 顾亚雄[1] 范孟豹[2] Yang Hai Li Wei Zhang He Gu Yaxiong Fan Mengbao(School of Mechatronic Engineering, Southwest Petroleum University, Chengdu 610500, China School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China)

机构地区：[1]西南石油大学机电工程学院,成都610500 [2]中国矿业大学机电工程学院,徐州221116

出　　处：《仪器仪表学报》2017年第9期2177-2185,共9页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金联合基金培育(U1610111);西南石油大学青年教师“过学术关”(201799010002)项目资助

摘　　要：针对超宽带无线定位系统在复杂坏境中出现的定位数据丢失以及粗大误差等导致SINS/UWB组合系统定位精度下降的问题,提出了一种基于超宽带定位系统容错判断的组合定位方法。首先根据捷联惯导测量值进行基于中值滤波的运动载体静止状态检测,进而利用最小二乘法实现静止状态下捷联惯导量测偏差矫正;然后在建立SINS/UWB组合定位模型的基础上,引入决策树容错判断机制,对超宽带定位系统在复杂环境中由于信号干扰以及非视距导致的测量数据丢失以及粗大定位误差进行实时评估,进而应用卡尔曼滤波算法,实现容错组合定位系统的构建。在搭建的SINS/UWB组合定位实验平台中进行模型验证,结果表明容错组合定位系统能够有效检测出UWB定位系统出现的定位数据丢失以及粗大定位误差,并且在UWB粗大误差状态持续6 s的情况下,容错组合定位系统仍然能够保持较高的定位精度。Because of the data lost and gross error of ultra wideband （UWB） positioning system in a complex environment, the tracking accuracy of SINS/UWB integrated positioning system is seriously decreased. Aimed at above problem, this paper proposes an SINS/ UWB integrated positioning method based on fault tolerant detection for UWB. Firstly, the stationary state detection model is built with measurement of SINS using the Median filter. Moreover, the measured bias of SINS can be calibrated with Least Square algorithm for the stationary state. Secondly, the fault tolerant judgement model is used to detect the UWB, which includes the measured data lost and gross position error caused by None Line of Sight and interference signal. The fault tolerant integrated positioning system can be achieved by Kalman Filter using detected positioning results of UWB. Finally, some experiments are conducted to evaluate the proposed method using experimental platform of SINS/UWB integrated positioning system. The experimental results show the fault tolerant integrated positioning system can effectively detect the data lost and gross error for UWB, meanwhile, the fault tolerant positioning system can guarentee high tracking accuracy for a duration time of 6s for UWB inaccurate state.

关 键 词：捷联惯导 超宽带定位 复杂环境 容错组合定位 卡尔曼滤波 

分 类 号：TH39[机械工程—机械制造及自动化] TP274.5[自动化与计算机技术—检测技术与自动化装置]