UWB与SINS融合的行人导航方法  

Pedestrian Navigation Method Based on UWB and SINS

作　　者：杨洋[1] 李擎[1] Yang Yang;Li Qing(Beijing Information Science and Technology University Institute of Intelligence Control,Beijing Key Laboratory of High Dynamic Navigation Technology.Beijing 100192,China)

机构地区：[1]北京信息科技大学智能控制研究所高动态导航技术北京市重点实验室

出　　处：《系统仿真学报》2019年第12期2636-2642,共7页Journal of System Simulation

基　　金：国家自然科学基金(61971048)

摘　　要：针对惯性导航的误差随时间不断累积、UWB在室内复杂环境中很难持续跟踪的问题,提出采用扩展卡尔曼滤波(ExtendedKalmanFilter,EKF)融合UWB与SINS行人导航方法。利用UWB辅助SINS。采用零速修正算法,在零速时刻触发EKF,通过SINS提供的速度误差观测量和UWB提供的位置误差观测量对SINS进行修正,抑制误差累积。在UWB信号中断时,将未中断时UWB输出的位置作为起始位置,利用SINS自主导航。实验结果证明:UWB+SINS方法互补了两者的优缺点,抑制误差累积且保证了导航的连续性,提高了行人导航的精度,导航误差为0.50%。In view of the problem that the inertial navigation error is accumulating with time and UWB indoor is hard to continue tracking problems in complex environment, an extended Kalman filter(EKF) fusing UWB and sins pedestrian navigation is proposed.The zero speed correction algorithm is used to trigger EKF at zero speed. The sins is corrected by the velocity error measurement provided by sins and the position error measurement provided by UWB restraining error accumulation.When UWB signal is interrupted, the position of UWB output without interruption is taken as the starting position. The experiment results of SINS autonomous navigation show that UWB+SINS method complements the advantages and disadvantages of the two methods, restrains the accumulation of errors and ensures the continuity of navigation, improves the accuracy of pedestrian navigation, and the navigation error is 0.50%.

关 键 词：行人导航 捷联惯性导航 超宽带 扩展卡尔曼滤波 数据融合 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]