摘要
针对在复杂室内环境下,单纯依靠超宽带技术(UWB)定位结果会严重失真,甚至缺失的问题,提出一种将UWB与行人航迹推算方法(PDR)相结合的方法:基于在人体胸部或者腰部等位置佩戴惯性器件的通常情形,利用惯性器件数据估计行人步长与每步航向,建立UWB与PDR的非线性扩展卡尔曼滤波器;然后通过将UWB相邻时刻间的差值信息更新到卡尔曼滤波器中的观测方差阵中,来自适应地实现定位结果估计。实验结果表明,该算法与单纯依靠UWB技术进行定位的算法相比,能够解决在复杂室内环境下定位解算点可能缺失的问题,并且可较显著地提高在复杂环境下定位系统的鲁棒性和定位精度。
Aiming at the problem that it is susceptible to serious distortion and even loss for the positioning result by relying solely on UWB technology under complex indoor environments,the paper proposed a method combing UWB with PDR:based on the general case that the inertial device is usually placed on the chest or waist of human’s body,the step length and orientation of every step of the pedestrian were estimated by using data of the inertial equipment to establish the nonlinear extended Kalman filter(EKF)of UWB and PDR;and the positioning estimates were realized adaptively by updating the difference of adjacent time of UWB into the covariance matrix of the measurement equation of EKF.Experimental result showed that,compared with the positioning method solely relying on UWB,the propsoed method could avoid the loss of calculated positioning points under complex indoor environments,and efficiently improve the accuracy and robustness of the positioning system in a complex environment.
作者
仪玉杰
黄智刚
苏雨
YI Yujie;HUANG Zhigang;SU Yu(School of Electronic and Information Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)
出处
《导航定位学报》
CSCD
2019年第3期38-43,50,共7页
Journal of Navigation and Positioning
关键词
室内定位
超宽带
行人航迹推算
扩展卡尔曼滤波器
自适应观测方差阵
indoor positioning
ultra wide band
pedestrian dead reckoning
extended Kalman filter
adaptive measuring covariance matrix
