The invention discloses a combined indoor
pedestrian navigation system and method based on UWB and SINS. The
system comprises an
inertial measurement unit, a navigation solution module, a zero velocity detection unit, a UWB
wireless positioning unit, a
magnetometer and a federated kalman filtering unit. The federated kalman filtering unit carries out data fusion on output signals of the navigationsolution module, the zero velocity detection unit, the UWB
wireless positioning unit and the
magnetometer to obtain error signals of
human motion acceleration, course angle and position information and sends the error signals to the
inertial measurement unit for correction. The method introduces a zero velocity
correction technique on the basis of a conventional strapdown
algorithm to detect zerovelocity moment; in an ultra-
wideband signal region, position course angle is provided by utilizing the ultra
wide band; in a non-ultra-
wideband signal region, the course angle is provided by utilizing a
magnetometer; and zero speed, position and course angle information are fused through federated kalman filtering to correct the speed, position and course of the
navigation system, thereby realizing indoor personnel positioning.