INS/UWB (inertial navigation system/ultrawide band combination navigation algorithm and system based on KF/FIR (Kalman filter/finite impulse response) and LS-SVM (least squares-support vector machine) fusion

Abstract

The invention discloses an INS / UWB (inertial navigation system / ultrawide band combination navigation algorithm and system based on KF / FIR (Kalman filter / finite impulse response) and LS-SVM (least squares-support vector machine) fusion. When a UWB signal is available, a KF / FIR filter operates normally, and an optimal estimation of navigation information is provided for a combination navigation system. In the meantime, an LS-SVM algorithm is in training mode, positional information of an INS solver and an optimal estimation of INS positional error given by the KF / FIR filter are used respectivelyas an input and a training objective for the LS-SVM algorithm; it is strived that ISN position and positional error mapping relationship is constructed through training. Once the UWB signal is unavailable, the LS-SVM algorithm replaces the KF / FIR filter that cannot operate; the constructed mapping relationship is utilized to estimate the INS positional error. The algorithm and system provided herein help overcome the defect that the traditional KF / FIR filter cannot operate normally in UWB loss-of-lock state, and seamless estimation for navigation information is achieved.

Description

technical field [0001] The invention relates to the technical field of combined positioning in complex environments, in particular to an INS / UWB combined navigation algorithm and system based on fusion of KF / FIR and LS-SVM. 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

The proposal of the present invention overcomes the defect that the traditional KF / FIR filter cannot work normally in the UWB out-of-lock state, and realizes the seamless estimation of navigation information

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