基于UWB和IMU紧组合的室内定位导航算法研究  

Research on Indoor Positioning and Navigation Algorithm Based on Tight Combination of UWB and IMU

作　　者：张松浩 崔敏[1] 张鹏[1] Zhang Songhao;Cui Min;Zhang Peng(North University of China,Taiyuan,China)

机构地区：[1]中北大学,山西太原

出　　处：《科学技术创新》2023年第13期17-20,共4页Scientific and Technological Innovation

摘　　要：作为智能化的核心,复合导航技术正在日益引起国内外学者的重视,尤其是在室内复杂环境下的移动机器人导航方面。目前,已有的惯性导航和超宽带定位等单一导航和定位方式存在诸多缺陷,而IMU/UWB融合导航和定位方式能够提高导航的准确性。As the core of intelligence,composite navigation technology is increasingly attracting the attention of scholars both domestically and internationally,especially in the field of mobile robot navigation in complex indoor environments.At present,existing single navigation and positioning methods such as inertial navigation and ultra wideband positioning have many shortcomings,while IMU/UWB fusion navigation and positioning methods can improve the accuracy of navigation.

关 键 词：超宽带 惯性测量单元 室内定位 算法 

分 类 号：TN96[电子电信—信号与信息处理] TN925[电子电信—信息与通信工程]