Seamless Indoor-Outdoor Switching Localization Algorithm based on CKF  

作　　者：Gang Yang Guodong Hou Ningning Feng Weida Meng 

机构地区：[1]School of Communication and Information Engineering,Xi’an University of Posts and Telecommunications,Xi’an 710121,China

出　　处：《Journal of Communications and Information Networks》2024年第1期88-98,共11页通信与信息网络学报（英文）

基　　金：supported by the Shaanxi Provincial Key Research and Development Program under Grant 2021GY-022.

摘　　要：To solve the problem of large positioning error and discontinuous positioning of special forces members when moving in cross-region indoors and outdoors, and to compensate for the linearization error and local convergence problem that may exist in the extended Kalman filter(EKF)in nonlinear systems, that is,the iterative results may be trapped in a local optimum situation, a seamless indoor-outdoor switching localization algorithm based on cubature Kalman filter (CKF) is proposed. CKF does not require the computation of Jacobian matrices, which can improve computational efficiency and filtering accuracy to a certain extent. In the system, an inertial measurement unit (IMU) is employed to correct the positioning errors of ultra-wideband (UWB)and BeiDou navigation satellite system(BDS).The positioning data from UWB and BeiDou in cross-region are weighted fused and then fused with the data from the IMU using CKF to obtain the final accurate positioning information. This study designs a scene-switching mechanism to achieve seamless switching between indoor and outdoor positioning scenes. By jointly analyzing the positioning accuracy of UWB and BeiDou,the positioning scene is determined, and appropriate counting thresholds are set to avoid frequent erroneous scene switches. Experimental results show that the proposed algorithm achieves a positioning accuracy of approximately 21.7 cm in cross-region,which can enable seamless integration of indoor and outdoor positioning,avoid positioning jumps, and enhance positioning accuracy.

关 键 词：cubature Kalman filtering ULTRA-WIDEBAND inertial measurement unit fusion positioning seamless switching 

分 类 号：TN92[电子电信—通信与信息系统]