基于UWB和IMU融合的UWB弱信号环境下高精度定位算法  

High-precision Positioning Algorithm Based on UWB and IMU Fusion in UWB Weak Signal Environment

作　　者：赵阳 王田虎 李文杰 缪千年 沈运哲 黄涛 ZHAO Yang;WANG Tianhu;LI Wenjie;MIAO Qiannian;SHEN Yunzhe;HUANG Tao(School of Electrical&Information Engineering,Jiangsu University of Technology,Changzhou 213001,China;Technical Development Department of CRRC Nanjing Puzhen Vehicle Co.,Ltd.,Nanjing 211800,China)

机构地区：[1]江苏理工学院电气信息工程学院,江苏常州213001 [2]中车南京浦镇车辆有限公司技术开发部,江苏南京211800

出　　处：《无线电工程》2024年第7期1721-1731,共11页Radio Engineering

基　　金：江苏省自然科学基金(BK20150247);江苏省实践创新项目(XSJCX22_44);中车南京浦镇车辆有限公司委托课题(KY30720210001)。

摘　　要：针对全球导航卫星系统(Global Navigation Satellite System, GNSS)在受限空间内定位精度差,甚至无法定位和无线超宽带(Ultra-Wide Band, UWB)脉冲室内定位技术在非视距(Non Line of Sight, NLoS)环境下定位精度差以及定位稳定性低等问题,提出以误差状态卡尔曼滤波(Error State Kalman Filter, ESKF)为基础并将UWB定位技术和惯性传感器(Inertial Measurement Unit, IMU)技术相融合,设计一套UWB弱信号环境下的UWB定位算法模型,实现UWB弱信号环境下的厘米级定位。通过优化传统ESKF方法以及融合UWB和IMU的测量数据,解决传统UWB定位在NLoS环境下定位精度较差和定位结果容易发生偏移等问题。实验研究结果表明,在导航实验室内,系统在东-北-天(ENU)坐标系中东方向、北方向轴和OXY平面上的精度分别提高了2.87%、12.02%和5.71%,方差分别降低了5.80%、18.06%和5.71%。在地下通道UWB弱信号环境下,系统在东方向、北方向和OXY平面上的精度分别提高了12.08%、24.10%和16.08%;方差分别降低了8.12%、32.74%和12.23%。所提出的算法模型有效改善了UWB室内定位技术在NLOS情况下,定位精度低、系统定位稳定性差的问题,降低了定位成本,具有很强的实用性。To solve the problems that the Global Navigation Satellite System(GNSS)has poor positioning precision in confined space and even cannot locate,and the Ultra-Wide Band(UWB)indoor positioning technology has poor positioning precision and low positioning stability in Non Line of Sight(NLoS)environment.Based on the error state Kalman filter and the fusion of UWB positioning technology and Inertial Measurement Unit(IMU),a UWB positioning algorithm model in UWB weak signal environment is designed to realize centimeter-level positioning in UWB weak signal environment.By optimizing the traditional error state Kalman filter method and fusing the measurement data of UWB and IMU,the problems of poor positioning precision and easy deviation of positioning results of traditional UWB positioning in NLoS environment are solved.The experimental results show that in the navigation laboratory,the precision of the system in the east direction,north axis and OXY plane in the East-North-Sky(ENU)coordinate system is increased by 2.87%,12.02%and 5.71%respectively,and the variance is reduced by 5.80%,18.06%and 5.71%respectively.In the underground channel UWB weak signal environment,the precision of the system in the east direction,north direction and OXY plane is improved by 12.08%,24.10%and 16.08%respectively.The variance is reduced by 8.12%,32.74%and 12.23%,respectively.The proposed algorithm model effectively improves low positioning precision and poor system positioning stability of UWB indoor positioning technology in the case of NLoS,reduces the positioning cost,and has strong practicability.

关 键 词：超宽带 惯性传感器 误差状态卡尔曼滤波 非视距 

分 类 号：TN961[电子电信—信号与信息处理]