UWB assisted inertial positioning method based on fault-tolerant decision-making tree

Abstract

The invention discloses a UWB assisted inertial positioning method based on a fault-tolerant decision-making tree. For the non-line-of-sight problem of errors of an inertial navigation system with time accumulation and UWB positioning and the gross error problem due to a multipath effect and human body influence. A gyroscope high-precision segmented fitting error compensation model is proposed andadopted, and inertial navigation error drift is inhibited; meanwhile, based on UWB assisted personnel indoor inertial positioning, a fault-tolerant decision-making tree judgment model having the combined action of inertial navigation and UWB single-point positioning data is constructed, gross error factors of UWB positioning are eliminated, thus extended Kalman filter is applied to inertial navigation and UWB parameter differences, UWB assisted enhanced inertial navigation positioning is achieved, long-time continuous and reliable positioning can be achieved, and the method has a very strongengineering application value.

Description

technical field [0001] The invention belongs to the field of personnel indoor positioning, and in particular relates to multi-source information assisted enhanced inertial positioning. Background technique [0002] Location-based services are a key feature required in many application scenarios in modern life, and people are increasingly relying on the convenience it brings. Outdoors, GPS, Beidou, etc. have been well explored and standardized, but because their signals are easily blocked by complex indoor environments, it is impossible to achieve high-precision positioning in complex indoor environments. Therefore, the research on indoor high-precision positioning has high commercial value. [0003] The inertial navigation system uses the angular rate and acceleration of the carrier itself to measure and calculate the attitude information and relative position information in real time. It has the advantages of low cost, small size, and passive, and can effectively achieve h...

AI Technical Summary

Problems solved by technology

However, most scholars have not made mutual fault-tolerant judgments for combined positioning. In indoor environments with complex building structures, UWB positioning is susceptible to non-line-of-sight problems, multipath effects, and human body effects, resulting in gross errors, which may lead to inertial navigation / UWB positioning accuracy. Descent, even incorrectly aided in correcting inertial navigation

Images