EFIR filtering algorithm and system with data missing UWB pedestrian positioning

Abstract

The invention discloses an EFIR filtering algorithm and system with data missing UWB pedestrian positioning, which comprises the following steps: respectively measuring a distance between a referencenode and a target node through a UWB system and an inertial navigation device INS system; On this basis, subtract the two distance values measured by the two systems, and the difference value is usedas the observation value of the filtering model used by the data fusion algorithm; On this basis, the traditional EFIR filtering algorithm is improved, and the introduced variable is shown in the description, which indicates whether the distance information of the ith channel is available or not. Once the distance information is not available, the unavailable distance information is estimated to compensate the unavailable distance information, so that the estimation of the position error of the filter is ensured; On this basis, subtract the estimation of the position error measured by the EFIRfilter and pedestrian position measured by the inertial navigation device INS system, so that 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 an EFIR filtering algorithm and system for positioning UWB pedestrians 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 continuous sta...

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 kind of EFIR filtering algorithm and system with data missing UWB pedestrian positioning. The EFIR filtering algorithm is improved. Firstly, it is judged whether the distance information obtained by UWB measurement is missing. If the i-th distance information is missing, then the i-th distance information is estimated to ensure the normal operation of the filter. Optimal Pedestrian Position Estimation

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