IMU辅助的室内单星定位方法

发布时间：2019-05-24 09:39

【摘要】：惯性导航系统(INS)是以惯性器件测量位置参数的定位系统,但随着时间的累积,系统的定位精度逐步变差,产生累积误差现象。基于无线传感器网络(WSN)的定位技术通常需要3个锚节点进行定位,但在室内复杂环境中,系统会处于锚节点欠定状态,此时需要辅助定位方法解决室内欠星定位问题。针对上述定位系统的不足,提出了一种基于IMU辅助和场景分析的多信息融合室内单星定位方法,该方法可通过场景分析的约束条件逐步消除IMU在室内环境下的累积误差效应,并通过单星定位技术进一步优化定位目标的位置信息。经过地下车库实验验证,本方法平均定位精度是0.75 m,定位误差有97.5%的概率在2 m以内,能满足室内亚米级高精度导航定位的要求。
[Abstract]:Inertial navigation system (INS) is a positioning system in which position parameters are measured by inertial devices, but with the accumulation of time, the positioning accuracy of the system becomes worse step by step, resulting in cumulative error phenomenon. The positioning technology based on wireless sensor network (WSN) usually needs three anchor nodes to locate, but in the indoor complex environment, the system will be in the underfixed state of the anchor node, and the auxiliary positioning method is needed to solve the problem of indoor understar positioning. In view of the shortcomings of the above positioning system, a multi-information fusion indoor single star positioning method based on IMU assistance and scene analysis is proposed, which can gradually eliminate the cumulative error effect of IMU in indoor environment through the constraints of scene analysis. The position information of the positioning target is further optimized by single satellite positioning technology. The experimental results of underground garage show that the average positioning accuracy of this method is 0.75 m, and the probability of positioning error is less than 2 m, which can meet the requirements of indoor sub-meter high precision navigation and positioning.
【作者单位】：杭州电子科技大学通信工程学院;中国科学院国家天文台;杭州电子科技大学电子信息学院;
【基金】：国家自然科学基金资助项目(11603041) 浙江省自然科学基金青年基金(LQ13F010010)
【分类号】：TN92;TN96

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