固定区间平滑滤波增强UWB/INS/NHC组合算法研究  

Research on the Integration of UWB/INS/NHC Aided Algorithm of Fixed Interval Smoothing Filter

作　　者：闵于 杨凯 高周正[1] MIN Yu;YANG Kai;GAO Zhouzheng(School of Land Science and Technology,China University of Geosciences Beijing,Beijing 100083,China)

机构地区：[1]中国地质大学(北京)土地科学技术学院,北京100083

出　　处：《测绘与空间地理信息》2021年第7期46-50,共5页Geomatics & Spatial Information Technology

基　　金：国家自然科学基金青年基金(41804027);中央高校基本科研业务费专项资金资助优秀教师基金项目(2652018026);资源环境与灾害监测山西省重点实验室开放基金项目(2019-01)资助。

摘　　要：针对当前室内位置服务技术难以同时满足定位的高精度性、连续性和和可靠性等显著问题,本文提出了一种多传感器数据融合室内定位算法,综合利用超宽带(Ultra-Wide Band,UWB)的室内高精度定位特性、惯性导航系统(Inertial Navigation System,INS)的自主定位和短期高精度定位特性,在非完整性约束模型(Non-Holonomic Constraint,NHC)的辅助下,采用固定区间平滑滤波,实现室内高精度连续定位。实测数据分析结果表明:1)UWB能实现分米级的定位和测速精度;2)在INS、NHC和固定区间平滑滤波的辅助下,可实现厘米级的平面定位精度和分米级的高程定位精度,测速精度达到优于3 cm/s;3)在UWB定位性能较差的环境下,NHC、INS和RTS对UWB定位性能的改善最为明显。In order to satisfy the requirements of indoor positioning service on high-accuracy,continuity,and reliability of positioning solutions,a new indoor positioning method is proposed in this paper,in which mutil-sensor’s measurements,such as Ultra-Wide Band(UWB),Inertial Navigation System(INS),and Non-Holonomic Constraint(NHC),are integrated together based on fixed interval smoothing filter.In this method,the charactors of high-accuracy positioning of UWB in long term and high-accuracy,consecutive positioning of INS in short term and relative term are utilized to provide users indoor positioning solutions with high-accuracy and continuity.According to the experiment results,it can be known that(1)under the UWB independent mode,decemter level positioning and velocimetry solutions can be obtained;(2)however,with enhancements of INS,NHC,and smoothing filter,cetimeter level positioning in horizontal components and decemeter level positioning in vertical component can be provided,and velocimetry accuracy can be higher than 3 cm per second in all three dimensions;(3)such improvements of NHC,INS,and RTS on both positioning and velocimetry are more significant under the complex UWB environments.

关 键 词：超宽带定位 惯性导航系统 非完整性约束 固定区间平滑滤波 室内导航 

分 类 号：P228.41[天文地球—大地测量学与测量工程]