一种多源融合室内外无缝定位方法  

A Multi-Source Fusion Indoor and Outdoor Seamless Positioning Method

作　　者：姚子扬 尚俊娜[1,2] 孙建强 肖江宁 王奕腾 YAO Ziyang;SHANG Junna;SUN Jianqiang;XIAO Jiangning;WANG Yiteng(College of Telecommunication Engineering,Hangzhou Dianzi University,Hangzhou Zhejiang 310018,China;Science and Technology on Communication Information Security Control Laboratory,Jiaxing Zhejiang 314033,China;The 36th Research Institute of China Electronic Technology Group Corporation,Jiaxing Zhejiang 314033,China)

机构地区：[1]杭州电子科技大学通信工程学院,浙江杭州310018 [2]通信信息控制和安全技术重点实验室,浙江嘉兴314033 [3]中国电子科技集团公司第三十六研究所,浙江嘉兴314033

出　　处：《传感技术学报》2022年第1期72-83,共12页Chinese Journal of Sensors and Actuators

基　　金：浙江省教育厅科研项目资助(Y202044275);政策引导类计划(国际科技合作)——“一带一路”创新合作项目(BZ2019006);浙江省公益项目(LGG18F010010)。

摘　　要：针对室内外无缝定位中GNSS易失锁以及定位不稳定等问题,本文提出了一种航向角修正算法,使用RTK定位的绝对角度对惯导的相对角度进行修正,有效提高了航向角的精度与稳定性;提出了一种基于扩展卡尔曼滤波与置信度加权的多源融合定位算法,采用GNSS/UWB组合惯导进行定位解算,有效利用多组定位源,实现多源融合定位。测试显示,该方法在室外情况下能够实现厘米级定位,平均定位误差相较于GNSS单独定位降低了52.4%;在室内外过渡阶段,依旧可以保持连续准确的定位;在室内GNSS卫星信号丢失的场景中,能够实现分米级定位,平均定位误差相较于UWB(ultra wide band)单独定位降低了59.8%。In order to solve the problems of GNSS loss of lock and poor positioning stability in indoor and outdoor seamless localization, this paper proposes a heading angle correction algorithm, which uses the absolute angle of RTK to correct the relative angle of the inertial navigation, which effectively improves the stability and accuracy of the heading angle. A multi-source fusion positioning algorithm based on extended Kalman filtering and confidence weighting is also proposed, which uses GNSS/UWB combined inertial navigation to achieve multi-source fusion localization. Tests show that this method can achieve centimeter-level positioning outdoors, and the average localization error of this method is 52.4% lower than that of GNSS alone. It can still maintain continuous and accuracy during the transition phase between indoor and outdoor. When GNSS signals are lost indoors, it can still achieve decimeter-level positioning, and the average localization error of this method is 59.8% lower than that of UWB alone.

关 键 词：全球定位系统 多源融合 扩展卡尔曼滤波 室内外无缝定位 GNSS 惯性导航 UWB 

分 类 号：TN967.1[电子电信—信号与信息处理] TP212[电子电信—信息与通信工程]