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UWB/INS fusion positioning method based on dynamic robust volume Kalman

A UWB-INS and fusion positioning technology, which is applied to combustion engines, internal combustion piston engines, and navigation through speed/acceleration measurement, can solve problems such as the influence of fusion positioning systems without considering the uncertainty of motion models

Active Publication Date: 2021-07-06
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, the existing UWB / INS fusion positioning system only considers the impact of external noise on positioning, and does not consider the impact of the uncertainty of the motion model on the fusion positioning system.

Method used

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  • UWB/INS fusion positioning method based on dynamic robust volume Kalman
  • UWB/INS fusion positioning method based on dynamic robust volume Kalman
  • UWB/INS fusion positioning method based on dynamic robust volume Kalman

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Embodiment Construction

[0034] Next, the technical solutions in the embodiments of the present invention will be apparent from the embodiment of the present invention, and it is clearly described, and it is understood that the described embodiments are merely embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, there are all other embodiments obtained without making creative labor without making creative labor premises.

[0035] This embodiment provides a UWB / INS fusion positioning method based on dynamic robust volume, in the NLOS / LOS environment, by dynamic volume Kalman filtering algorithm, filter out the effect of external noise on system estimation, while integrating Strong tracking algorithm to overcome model errors to achieve accurate robust trajectory estimation. Such as figure 1 As shown in a preferred embodiment, the method includes the following steps:

[0036] S1, establish a motion model for UWB-INS fusion positioning. The s...

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Abstract

The invention relates to the technical field of complex indoor positioning, in particular to a UWB / INS fusion positioning method based on dynamic robust cubature Kalman, and the method comprises the steps: building a UWB-INS fusion positioning motion model; determining a first position and a first speed of the to-be-positioned point by using an ultra wide band (UWB) positioning technology; acquiring second position data and second speed of the to-be-positioned point by adopting an inertial navigation system (INS); calculating actual measurement errors of the two positioning modes; correcting the actual measurement error by adopting a dynamic robust volume Kalman filtering algorithm to obtain a final position error; and correcting the second position data through the final position error to obtain an accurate position s. According to the method, the influence of external noise on system estimation can be relieved, the motion error model state of the system can be tracked, and the influence of motion uncertainty on target trajectory prediction is reduced, so that accurate and stable indoor navigation is realized.

Description

Technical field [0001] The present invention relates to the field of complex indoor positioning techniques, and more particularly to a UWB / INS fusion positioning method based on dynamic robust volume. Background technique [0002] In recent years, with the rapid development of wireless technology, based on the positioning services of indoor scenes (such as supermarket shopping navigation, fire emergency positioning, hospitalized patient position tracking, etc.) have become the basic needs of many Internet applications. However, in a complicated environment such as large airport, factory workshop, mine tunnel, the radio signal cannot meet the high precision positioning requirements of the indoor due to the obstacle blocking, electromagnetic interference, signal reflection and other factors. [0003] Single indoor positioning techniques can be divided into wireless positioning techniques and sensing positioning techniques, wherein the wireless positioning technique is optimal in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/206G01C21/165Y02T10/40
Inventor 刘期烈周文敏万志鹏陈澄吴翠先
Owner CHONGQING UNIV OF POSTS & TELECOMM
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