PDR与UWB融合的森林消防员定位系统设计  

Design of forest firefighter positioning system fusing PDR and UWB

作　　者：吴桐 徐向波[1] 高森宇 楚娅妮 郭宁雁 WU Tong;XU Xiangbo;GAO Senyu;CHU Yani;GUO Ningyan(School of Technology,Beijing Forestry University,Beijing 100083,China;School of Information and Communication Engineering,Beijing University of Posts and Telecommunications,Beijing 100876,China)

机构地区：[1]北京林业大学工学院,北京100083 [2]北京邮电大学信息与通信工程学院,北京100876

出　　处：《传感器与微系统》2024年第7期89-91,96,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(32371868)。

摘　　要：针对森林消防员在林区环境下由于全球导航卫星系统(GNSS)定位拒止及惯性导航误差累积而难以精确定位的问题,设计了一种融合行人航位推算(PDR)和超宽带(UWB)测距的定位系统。首先,基于消防员个体装备的便携性要求,利用加速度计、磁强计、陀螺仪和气压计设计头戴式定位系统;其次,将指挥员作为基站,利用UWB测得消防员与基站之间的距离;接着,基于扩展卡尔曼滤波(EKF)设计了PDR与UWB融合的定位算法,将测距信息与消防员的运动状态进行融合解算,约束误差发散;最后,利用设计的软硬件定位系统进行了验证实验。结果表明:在真实林区实验中,与无约束PDR相比,采用PDR与UWB融合的定位方法将位置误差减小了60.04%,有效提升了系统的定位精度。Aiming at the problem that it is difficult to obtain accurate position information for firefighters in forest environments caused by global navigation satellite system(GNSS)denial and cumulative errors in inertial navigation,a positioning system fusing pedestrian dead reckoning(PDR)and ultra-wideband(UWB)ranging technology is designed.Firstly,a head-mounted positioning system is designed utilizing accelerometers,magnetometers,gyroscopes,and barometers based on the portability requirements of firefighter personal equipment.Secondly,the distance between the firefighter and the base station is measured by UWB using the commander as the base station.Furthermore,a positioning algorithm fusing PDR and UWB is designed based on extended Kalman filtering(EKF),fusion solution are carried out on the ranging information with firefighter’s motion states,thereby constraining error divergence.Finally,a verification experiment is carried out with the designed software and hardware positioning system.The results show that in the real forest area experiment,the positioning method fusing PDR and UWB reduces the position error by 60.04%compared with the unconstrained PDR algorithm,effectively improve the positioning precision of the system.

关 键 词：行人定位 行人航迹推算 扩展卡尔曼滤波 超宽带测距 组合导航 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] V249.4[自动化与计算机技术—计算机科学与技术]