A High Accuracy Map Aided UWB/INS Integrated Positioning Method
This paper proposes a high accuracy map aided UWB/INS tightly integrated positioning algorithm.The digital mapping method is used to obtain high-accuracy map information and establish a map database.The line segment matching algorithm is used to identify Non-Line-of-Sight(NLOS),and the Robust Kalman Filter is used to fuse the UWB/INS integrated positioning method.The experimental results show that the planimetric positioning accuracy of the proposed algorithm is within 0.25 meters,which can improve the positioning accuracy and stability of UWB/INS integrated positioning system in complex indoor environment.
万方数据
维普
