Adaptive prediction ekf filtering algorithm and system for uwb pedestrian navigation with missing data

Abstract

The invention discloses an adaptive estimation EKF algorithm and system for UWB pedestrian navigation with data missing. The algorithm comprises the steps that the distance between a reference node and a target node is measured through a UWB system and an INS of an inertial navigation device; on the basis, distance information obtained by measurement through the two systems is subjected to subtraction, and a difference value serves as an observation quantity of a filtering model used by a data fusion algorithm; and on the basis, a traditional adaptive EKF algorithm is improved, and a variableas shown in the description is introduced to represent whether distance information of an ith channel is available or not. Once the distance information is unavailable, the unavailable distance information is estimated to make up for the unavailable distance information, so that the estimation of a position error by a filter is guaranteed; and on the basis, a pedestrian position obtained by measurement through the INS of the inertial navigation device and the position error obtained by the EFIR filter are subjected to subtraction, and finally optimal pedestrian position estimation at a currentmoment is obtained.

Description

technical field [0001] The invention relates to the technical field of combined positioning in complex environments, in particular to an adaptive estimation EKF filter algorithm and system for UWB pedestrian navigation with data loss. 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 con...

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 an adaptive estimation EKF filtering algorithm and system for UWB pedestrian navigation with data loss, This method improves the traditional adaptive EKF filtering algorithm by introducing variable Determine whether the i-th distance information is available, if the i-th distance information is not available, then Estimate the unavailable distance information to ensure the normal operation of the filter, and finally get the optimal pedestrian position estimation at the current moment

Images