摘要
为了弥补在不同场景下切换时目标丢失的盲区,提出GPS/UWB/MARG的协同定位系统,实现城区建筑间混合场景下的无缝定位。在混合场景下采用一种加权融合算法实现GPS和UWB协同定位,MARG用以辅助提高GPS定位精度,先对单一子系统进行数据优化和性能分析后,以加权融合的方式处理GPS/MARG数据和UWB数据,自主判断在不同定位环境下的数据输出的最优定位信息。结果表明,协同定位系统在混合场景下平均定位精度相比于GPS/MARG系统提高了64%,定位精度更高同时拓展了单一定位系统的应用场景。
To make up the blind zone in which target loses while switching between different scenarios,a cooperative positioning system based on GPS/UWB/MARG is proposed to realize seamless positioning between urban buildings in hybrid scene.A weighted fusion algorithm is adopted in hybrid scene to achieve cooperative positioning of GPS and UWB. MARG is used to auxiliarily improve GPS positioning accuracy. After data optimization and performance analysis for the single subsystem,GPS/MARG data and UWB data are processed in the mode of weighted fusion. The optimal positioning information of output data in different positioning environments is autonomously determined. The results show that the average positioning accuracy of cooperative positioning system in hybrid scene is increased by 64% in comparison with that of GPS/MARG system,and meanwhile the application scenarios of single positioning system are expanded.
出处
《现代电子技术》
北大核心
2018年第6期82-86,共5页
Modern Electronics Technique
基金
国家自然科学基金资助项目(61461017)
海南省重点研发计划项目(ZDYF2016002)
海南省自然科学基金创新团队项目(2017CXTD0004)
海南省研究生创新研究项目(Hyb2017-07)~~
