RFID/SINS Combined Navigation Research Based on Adaptive Kalman Filtering
In indoor navigation and positioning,Radio Frequency Identification(RFID)technology has many advantages such as strong signal penetration and low cost,which can effectively replace GPS to complete indoor combined navigation.To address the problems of indoor inertial navigation error dispersion and uncertainty of noise parameters in filtering,a RFID/SINS combined navigation system based on Adaptive Kalman Filtering(AKF)is proposed,which suppresses inertial navigation error dispersion by RFID positioning system and applies AKF to correlate noise parameters with measurement output parameters to achieve real-time update.Simulations and experiments are conducted to compare the RFID/SINS combined navigation system under AKF and standard Kalman Filtering(KF).The results showed that the average positioning error of the combined navigation system under AKF is reduced by 10%,the position stability is improved by 7.4%,and the positioning error is maintained at about0.07 m.Therefore,the RFID/SINS combined navigation system based on AKF can meet the demand of indoor high-precision positioning and navigation.
RFIDSINScombination navigationAKFsimulation and experimental analysis
国家科技期刊平台
NSTL
万方数据
维普
