摘要
针对超宽带(UWB)在室内定位过程中受非视距环境影响易出现粗差以及微机电系统(MEMS)惯性测量单元(IMU)定位误差随时间快速发散的问题,该文提出了采用自适应卡尔曼滤波的UWB/MEMS IMU组合的室内定位方法,并通过自主完好性监测算法对UWB测距异常值进行剔除,将零速修正算法加入到组合定位系统中,抑制在UWB数据中断情况下MEMS IMU误差的发散。实验结果表明,在UWB存在中断的复杂室内环境下,UWB/MEMS IMU组合定位的平面定位精度在0.2 m以内,自主完好性监测与零速修正能有效地提高组合定位系统的精度与稳定性。
Aiming at the problem that ultra-wide band(UWB)was prone to gross error in indoor positioning due to the influence of non-line-of-sight environment and the micro-electro-mechanical system(MEMS)inertial measurement unit(IMU)location error diverges with time,a UWB/MEMS IMU combined indoor location method using adaptive Kalman filter was proposed,and the UWB ranging outliers were eliminated by the autonomous integrity monitoring algorithm,and the zero-velocity correction algorithm was added into the combined location system to suppress the error of MEMS IMU in the case of UWB data interruption.The experimental results showed that the planar positioning accuracy of UWB/MEMS IMU combination was less than 0.2 m in complex indoor environment with UWB interruption,which effectively improved the positioning accuracy and stability compared with MEMS IMU or UWB alone.
作者
徐爱功
杜健
隋心
史政旭
房穹
XUAigong;DUJian;SUIXin;SHIZhengxu;FANGQiong(School of Geomatics,Liaoning Technical University,Fuxin,Liaoning 123000,China)
出处
《测绘科学》
CSCD
北大核心
2022年第12期1-7,65,共8页
Science of Surveying and Mapping
基金
国家自然科学基金项目(42074012)
辽宁省重点研发计划项目(2020JH2/10100044)
辽宁省“兴辽英才计划”资助项目(XLYC2002101,XLYC2008034)
辽宁省自然科学基金计划指导项目(2019-ZD-0051)
辽宁省教育厅基础研究项目(LJ2020JCL016)
作者简介
徐爱功(1963—),男,山东日照人,教授,博士,主要研究方向为全球卫星定位系统、地理信息系统及智能交通系统的集成与应用。E-mail:xu_ag@126.com;通信作者:杜健,硕士研究生,E-mail:dujian5698@163.com
