摘要
针对经典行人导航算法的准确度随时间发散导致定位精度下降的问题,提出了一种基于超宽带(Ultra Wide Band,UWB)和气压计融合的PDR/INS行人导航算法。将两个惯性传感器分别固定在行人的腰部及脚部,分析两个传感器相对位置关系,基于UWB及气压计进行空间建模。PDR,INS解算的位置与UWB及气压计解算的距离作为观测量估计校正因子,补偿导航误差。经过不同场景的行人导航实验验证,所提出方法的平均误差为0.97%至1.21%,终点误差为2.21%至2.40%。
To address the problem that the accuracy of classical pedestrian navigation algorithms diverges over time,leading to a decline in positioning accuracy,a PDR/INS pedestrian navigation algorithm based on the fusion of ultra-wideband(UWB)and barometer is proposed.Fix two inertial sensors on the pedestrian's waist and foot respectively.Analyze the relative position relationship between the two sensors,and conduct spatial modeling based on UWB and barometer.The position calculated by PDR and INS and the distance calculated by UWB and barometer are used as observations to estimate the correction factor and compensate for navigation errors.According to the pedestrian navigation experiments in different scenarios,it has been verified that the average error of LKPDR ranged from 0.97%to 1.21%,and the endpoint error ranged from 2.21%to 2.40%.
作者
高森宇
徐向波
Gao Senyu;Xu Xiangbo(College of Engineering,Beijing Forestry University,Beijing,China)
出处
《科学技术创新》
2025年第17期113-116,共4页
Scientific and Technological Innovation
基金
国家自然科学基金(32371868)。
作者简介
高森宇(2000-),男,硕士研究生,从事惯性传感器和行人惯性导航研究;通讯作者:徐向波(1982-),男,博士,教授,博士生导师,主要从事单兵导航,磁悬浮控制,电机伺服控制方面的研究工作。
