基于UWB优化配置的室内行人导航方法

发布时间：2018-07-04 23:00

本文选题：室内定位 + 惯性导航系统　；参考：《中国惯性技术学报》2017年02期

【摘要】：在卫星信号无法覆盖的室内条件下,行人的精确导航问题是当前研究的热点。为解决基于MEMS的微惯性导航系统误差随时间发散、航向角发散快的问题,提出了一种利用UWB辅助修正惯性导航系统,实现室内较高精度定位的方法。该方法采用基于零速修正的微惯导系统进行导航,以抑制惯导误差随时间发散,并在建筑内拐角、楼梯口等关键节点处优化配置UWB设备,采用UWB信息与微惯导数据进行卡尔曼滤波,实现对微惯导航向及位置的修正。与大规模使用UWB系统进行室内定位相比,该方法降低了系统布设成本,避免了UWB出现问题时对整体导航结果的影响,有效地保证了系统的定位精度。行走实验表明:直线行走时,微惯导最终定位误差为1.8%;转弯行走时,在UWB辅助定位下,微惯导最终定位误差小于1.0%。
[Abstract]:In indoor conditions where satellite signals cannot be covered, the problem of accurate pedestrian navigation is a hot topic. In order to solve the problem that the error of MEMS based micro inertial navigation system diverges with time and the heading angle divergence is fast, a method of correcting inertial navigation system with UWB is proposed to realize indoor high precision positioning. In this method, the micro-inertial navigation system based on zero velocity correction is used to control the divergence of inertial navigation error with time, and the UWB equipment is optimized at the key nodes, such as the corner of the building, the staircase of the building, and so on. UWB information and micro inertial navigation data are used for Kalman filtering to correct the direction and position of micro inertial navigation. Compared with the large scale UWB system for indoor positioning, this method reduces the system layout cost, avoids the influence of UWB problems on the overall navigation results, and effectively ensures the positioning accuracy of the system. The walking experiments show that the final positioning error of the micro inertial navigation system is 1.8 when walking in a straight line, and the final positioning error of the micro inertial navigation system is less than 1. 0 with UWB aided positioning when turning.
【作者单位】：南京航空航天大学导航研究中心;卫星通信与导航协同创新中心;南京师范大学电气与自动化工程学院;
【基金】：国家自然科学基金(61533008,61374115,61328301,61304227) 江苏省自然科学基金(BK20141453) 中央高校基本科研业务费专项资金(NS2015037)
【分类号】：TN925

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