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Indoor positioning method based on improved square root unscented Kalman filtering

An unscented Kalman and indoor positioning technology, applied in navigation computing tools and other directions, can solve problems such as UWB signal refraction or reflection, non-line-of-sight error, etc., to solve the convergence value mismatch, suppress filter divergence, and improve positioning accuracy Effect

Active Publication Date: 2019-06-21
NANJING UNIV OF SCI & TECH
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Problems solved by technology

In addition, ultra-wideband technology has high time resolution, strong penetration and anti-multipath ability. However, due to the complex indoor environment, UWB signal refraction or reflection may occur, or non-line-of-sight due to obstacles (NLOS) error

Method used

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  • Indoor positioning method based on improved square root unscented Kalman filtering
  • Indoor positioning method based on improved square root unscented Kalman filtering
  • Indoor positioning method based on improved square root unscented Kalman filtering

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Experimental program
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Embodiment 1

[0142] Figure 4 The simulation results show that it can be seen that due to the existence of the cumulative error problem in pedestrian dead reckoning, as time goes by, the trajectory will fluctuate greatly; within the first 30s, the UWB positioning trajectory and the planned route are basically consistent , due to the existence of the non-line-of-sight error problem caused by the simulated UWB signal being blocked, the UWB signal drifts between 30s and 42.5s, which leads to large fluctuations in the positioning trajectory; SR-UKF and improved SR -UKF can integrate the position information of pedestrian dead reckoning and UWB positioning, and effectively improve the positioning accuracy.

[0143] combine Figure 5 It can be seen that the improved SR-UKF algorithm is superior to SR-UKF in both positioning accuracy and trajectory smoothness. Using SR-UKF compared with pure UWB positioning, the position error is reduced by about 68.8%, and using improved SR-UKF compared with p...

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Abstract

The invention discloses an indoor positioning method based on improved square root unscented Kalman filtering. The method comprises the following steps of firstly, establishing a UWB positioning modeland a pedestrian dead reckoning PDR model in a fusion indoor positioning method; then, according to a residual identification method criterion, determining whether an NLOS criterion exists in a positioning result of the UWB positioning model; if the NLOS exists, using an improved square root unscented Kalman filtering algorithm to fuse a coordinate of inertial navigation dead reckoning with a positioning coordinate of UWB, and correcting a UWB solving coordinate data; and if the NLOS does not exist, using the UWB to analyze a current coordinate and completing real-time positioning. In the invention, the pedestrian dead reckoning PDR is used to compensate a UWB signal loss or non-line of sight condition, which improves the positioning accuracy of the system and the advantages of high precision and high robustness are possessed.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method based on an improved square root unscented Kalman filter. Background technique [0002] The wireless indoor positioning technology has a wide range of applications. The emergence of this technology solves the problem that the Global Positioning System (GPS) cannot provide accurate positioning services indoors due to obstacles, complex indoor environments, and serious reflections. [0003] Common indoor positioning technologies include: Wi-Fi technology, radio frequency identification technology, infrared technology, ZigBee technology, ultrasonic technology, UWB technology, etc. These technologies have their own advantages and disadvantages, and the application fields are also different. Among them, ultra-wideband technology (UWB) uses nanosecond-level narrow pulses to transmit data, does not require a carrier, and has a GHz-level bandwidth...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCY02D30/70
Inventor 刘源杨行包建东胡明月孙强邢宗义
Owner NANJING UNIV OF SCI & TECH
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