基于GPS/UWB的室内外无缝定位实验装置  

Indoor and Outdoor Seamless Positioning Experimental Device Based on GPS/UWB

作　　者：曾庆喜 金宇 林雅洁[1] 修巧艳 张琪 蔺筱宣 ZENG Qingxi;JIN Yu;LIN Yajie;XIU Qiaoyan;ZHANG Qi;LIN Xiaoxuan(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Center of Faculty Development and Teaching Evaluation/Institute of Higher Education,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]南京航空航天大学教师发展与教学评估中心/高等教育研究所,南京211106

出　　处：《实验室研究与探索》2022年第12期86-90,共5页Research and Exploration In Laboratory

基　　金：南京航空航天大学教育科学与改革专项课题(2019JYKX-01);2021年度南京航空航天大学“实验技术研究与开发”项目(SYJS202102Y)。

摘　　要：为实现智能停车场等场景中车辆的精确引导,选择GPS与UWB作为联合定位系统的组成模块,分别研究GPS与UWB的定位原理与误差来源,编写算法实现高斯-克吕格投影、TOA坐标解算并实现两者的单独定位,通过引入Kalman滤波进行数据平滑处理。根据GPS与UWB定位质量与定位范围特点,划分联合定位系统中GPS和UWB定位的有效区域,编写了GPS/UWB无缝切换算法。实验表明,该组合定位实验装置整体定位切换流畅,Kalman滤波效果较好,能够有效降低定位误差,定位精度满足智能停车场车辆引导的室内外定位需求。In order to realize the accurate guidance of vehicles in scenes such as intelligent parking lot,GPS and UWB are selected as the constituent modules of the joint positioning system.The positioning principles and error sources of GPS and UWB are studied,respectively.The algorithm is written to realize Gaussian Kruger projection and TOA coordinate solution,and realize their separate positioning.The data are smoothed by introducing Kalman filter.On this basis,according to the characteristics of GPS and UWB positioning quality and positioning range,the effective areas of GPS and UWB positioning in the joint positioning system are divided,and the GPS/UWB seamless switching algorithm is compiled.Experiments show that the overall positioning switching of the combined positioning experimental device is smooth,the Kalman filtering effect is good,the positioning error can be effectively reduced,and the positioning accuracy can meet the indoor and outdoor positioning requirements of vehicle guidance in intelligent parking lot.

关 键 词：全球定位系统 超宽带 室内外无缝定位 组合定位 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]