一种高精度地图辅助的UWB/INS组合定位方法

A High Accuracy Map Aided UWB/INS Integrated Positioning Method

蒋欣¹

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作者信息

1. 辽宁省自然资源事务服务中心,辽宁沈阳 110034
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摘要

提出了一种高精度地图辅助的UWB/惯性导航系统(Inertial Navigation System,INS)紧组合定位算法,即利用数字测图方法获得高精度地图信息并建立地图数据库,采用线段匹配算法识别非视距(Non-Line-of-Sight,NLOS),使用抗差卡尔曼滤波(Robust Kalman Filter,RKF)融合UWB/INS的组合定位方法.实验结果表明,本文提出的算法平面定位精度在0.25 m内,能够在复杂的室内环境下提高UWB/INS组合定位系统的定位精度和稳定性.

Abstract

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.

关键词

UWB/INS组合/非视距/线段匹配算法/地图数据库

Key words

UWB/INS combination/non-line-of-sight/line segment matching algorithm/map database

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出版年

2024

测绘与空间地理信息

黑龙江省测绘学会

测绘与空间地理信息

影响因子：0.788

ISSN：1672-5867

参考文献量5

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