UFIR filtering algorithm and system facing with data-missing INS/UWB combined pedestrian navigation

Abstract

The invention discloses a UFIR filtering algorithm and a system facing with data-missing INS / UWB combined pedestrian navigation, which comprises the following steps: respectively measuring the distance between a reference node and a target node through a UWB system and an inertial navigation device INS system; on the above basis, subtracting the distance information measured by the two systems, and using the difference value as the observation quantity of a filtering model used by a data fusion algorithm; on this basis, improving the traditional UFIR filtering algorithm, and introducing a variable, which is shown in the description, to indicate whether the distance information of the first i channel is available. Once the distance information is not available, the distance information which is not available is estimated to compensate the non-usable distance information, and the estimation of the position error of the filter is ensured; on this basis, the errors of the pedestrian position obtained by the INS measurement of the inertial navigation device and the EFIR filter are estimated and subtracted, and finally the optimal pedestrian position estimation at the current time is obtained.

Description

technical field [0001] The invention relates to the technical field of combined positioning in complex environments, in particular to a UFIR filtering algorithm and system for INS / UWB combined pedestrian navigation with missing data. Background technique [0002] In recent years, Pedestrian Navigation (PN), as an emerging field of navigation technology application, is receiving more and more attention from scholars from all over the world, and has gradually become a research hotspot in this field. However, in indoor environments such as tunnels, large warehouses, and underground parking lots, factors such as weak external radio signals and strong electromagnetic interference will have a great impact on the accuracy, real-time performance, and robustness of target pedestrian navigation information acquisition. How to effectively integrate the limited information acquired in the indoor environment to eliminate the influence of the indoor complex environment and ensure the cont...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that UWB cannot obtain normal distance information due to the influence of the indoor environment in the real-time system, and proposes a UFIR filtering algorithm and system for INS / UWB combined pedestrian navigation with data loss. The method improves the traditional UFIR filtering algorithm. Firstly, it judges whether the distance information obtained by UWB measurement is missing. If the i-th distance information is missing, the i-th distance information is estimated to ensure the normal operation of the filter. Finally, Get the best pedestrian position estimation at the current moment

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