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Ins/uwb integrated navigation algorithm and system based on fusion of kf/fir and ls-svm

A technology of integrated navigation and navigation coordinate system, which is applied in the field of INS/UWB integrated navigation algorithm and system, and can solve problems such as not working properly

Active Publication Date: 2021-07-06
UNIV OF JINAN
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  • Claims
  • Application Information

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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

Method used

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  • Ins/uwb integrated navigation algorithm and system based on fusion of kf/fir and ls-svm
  • Ins/uwb integrated navigation algorithm and system based on fusion of kf/fir and ls-svm

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Embodiment Construction

[0036] The present invention is described in detail below in conjunction with accompanying drawing:

[0037] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. In addition, it should also be understood that when the terms "comprising" and / or "comprises" are used in this specification, it indicates the presence of features, steps, operations, means, components and / or their combination.

[0038] In order to solve the problems proposed by the background technology, the present invention discloses an INS / UWB integrated navigation algorithm based on KF / FIR and LS-SVM fusion, including:

[0039] (1) The eastward and northward position and velocity errors of the inertial navigation system INS are used as the state variables, and the difference between the eastward and northward position of the target pedestrian measured by the inertial navig...

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Abstract

The invention discloses an INS / UWB combined navigation algorithm and system based on the fusion of KF / FIR and LS-SVM. When the UWB signal is available, the KF / FIR filter works normally to provide the combined navigation system with optimal prediction of navigation information. At the same time, the LS-SVM algorithm is in the training mode, and the position information calculated by the INS and the optimal estimation of the INS position error given by the KF / FIR filter are respectively used as the input and training target of the LS-SVM algorithm, and strive to pass Training constructs the mapping relationship between INS position and position error. Once the UWB signal is unavailable, the LS-SVM algorithm replaces the inoperable KF / FIR filter, and uses the constructed mapping relationship to estimate the INS position error. 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.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 徐元李岳炀赵钦君冯宁刘统乾
Owner UNIV OF JINAN
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