一种抗差估计的GNSS/UWB/IMU集成式室内外无缝定位方法  

GNSS/UWB/IMU integrated indoor and outdoor seamless positioningmethod with robustness estimation

作　　者：陈帅印 刘宁[1,2] 胡可君 Chen Shuaiyin;Liu Ning;Hu Kejun(School of Automation,Beijing Information Science&Technology University,Beijing 100192,China;Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]北京信息科技大学高动态导航技术北京市重点实验室,北京100192

出　　处：《电子测量技术》2025年第5期74-80,共7页Electronic Measurement Technology

基　　金：国家自然科学基金面上项目(62471048);装发教育部联合基金青年项目(8091B03032311);北京市自然科学基金面上项目(4212003)资助。

摘　　要：针对单导航源定位系统在室内外场景切换时存在定位精度低和连续性差的问题,提出了一种抗差估计的GNSS/UWB/IMU集成式室内外无缝导航定位方法。在面对室内外复杂场景切换的情况下,采用抗差估计算法对GNSS与UWB的观测信号进行置信度评估和融合,并将融合的数据与惯导系统数据相结合,利用扩展卡尔曼滤波算法实现定位。为了评估算法在干扰和噪声下的导航定位精度,将惯导定位模块、卫星定位模块以及超宽带标签集成到一起进行实验。实验结果表明,所提融合定位方法的东向、北向定位均方根误差分别为6.95 cm和6.89 cm,最大定位误差为28.55 cm;在室内外过渡阶段,系统能够保持连续准确的定位,提高了复杂多变的室内外环境下的导航定位精度和稳定性。In order to solve the problems of low positioning accuracy and poor continuity in the single navigation source positioning system in indoor and outdoor seamless positioning,a GNSS/UWB/IMU integrated indoor and outdoor seamless navigation and positioning algorithm based on robust estimation was proposed.In the face of complex indoor and outdoor scene switching,the robustness estimation algorithm is used to evaluate the confidence level of the two observation signals collected by GNSS and UWB and fuse them,and the fused data is used as the new observation value,and the extended Kalman filter algorithm is used to fuse the new observation value with the data of the inertial system to achieve fusion positioning.In order to evaluate the navigation and positioning accuracy of the algorithm in the presence of interference and noise,the inertial navigation positioning module,the satellite positioning module and the ultra-wideband tag were integrated together and field tests were carried out.Experiments show that the root mean square error of the proposed fusion positioning method is 6.40 cm in the east direction and 6.73 cm in the north direction,and the maximum error is not more than 28.55 cm.

关 键 词：多源融合 抗差估计 室内外无缝定位 扩展卡尔曼滤波 

分 类 号：TN967.2[电子电信—信号与信息处理]