Aiming at the problem that it is difficult to obtain accurate position information for firefighters in forest environments caused by global navigation satellite system (GNSS )denial and cumulative errors in inertial navigation,a positioning system fusing pedestrian dead reckoning (PDR )and ultra-wideband (UWB )ranging technology is designed. Firstly,a head-mounted positioning system is designed utilizing accelerometers, magnetometers,gyroscopes,and barometers based on the portability requirements of firefighter personal equipment. Secondly,the distance between the firefighter and the base station is measured by UWB using the commander as the base station. Furthermore,a positioning algorithm fusing PDR and UWB is designed based on extended Kalman filtering(EKF),fusion solution are carried out on the ranging information with firefighter's motion states,thereby constraining error divergence. Finally,a verification experiment is carried out with the designed software and hardware positioning system. The results show that in the real forest area experiment,the positioning method fusing PDR and UWB reduces the position error by 60. 04％ compared with the unconstrained PDR algorithm,effectively improve the positioning precision of the system.
关键词
行人定位/行人航迹推算/扩展卡尔曼滤波/超宽带测距/组合导航
Key words
pedestrian positioning/pedestrian dead reckoning/extended Kalman filtering(EKF)/ultra-wideband (UWB)ranging/combined navigation
维普
万方数据