摘要
针对移动目标室内定位噪声大、精度低等问题,提出了一种基于变中心最大熵容积积分卡尔曼滤波的无线保真(WiFi)与惯性测量单元(IMU)组合定位方法。该方法将变中心最大熵准则引入容积积分卡尔曼滤波(CQKF),对量测噪声进行实时最优估计,并采用变中心最大熵CQKF滤波算法,分别对WiFi定位结果进行滤波和对WiFi/IMU组合系统数据进行融合。实验结果表明:WiFi/IMU组合定位方法比单独WiFi或单独IMU定位的定位误差至少减少81%;变中心最大熵CQKF比CQKF具有更高的滤波性能,可使定位误差减少38%,收敛速度提高1.78倍。
Aiming at the problems of high noise and low accuracy in indoor positioning of moving targets,a Wireless Fidelity(WiFi)and Intertial Measurement Unit(IMU)combined positioning method based on variable center maximum correntropy cubature quadrature Kalman filter is proposed in this paper.In this method,the Variable Center Maximum Correntropy(VCMC)is introduced into Cubature Quadrature Kalman Filter(CQKF)and the measurement noise is optimally estimated in real time.The VCMCCQKF filtering algorithm is used to filter the WiFi positioning results and to fuse the data of the WiFi/IMU combined system.Experimental results show that the proposed method of WiFi/IMU combined positioning reduces the positioning error by at least 81%compared with WiFi or IMU alone,VCMCCQKF reduces the positioning error by 38%and improves the convergence rate by 1.78 times compared with CQKF.
作者
张丽杰
郝利军
李志宇
ZHANG Lijie;HAO Lijun;LI Zhiyu(College of Electric Power,Inner Mongolia University of Technology,Hohhot 010051,China;Inner Mongolia Key laboratory of Mechanical and Electrical Control,Hohhot 010051,China)
出处
《导航定位学报》
CSCD
2021年第5期48-53,共6页
Journal of Navigation and Positioning
基金
国家自然科学基金项目(61663034)
内蒙古自然科学基金项目(2020MS06019)。
关键词
室内定位
无线保真
惯性测量单元
变中心最大熵
容积积分卡尔曼滤波
indoor positioning
wireless fidelity
intertial measurement unit
variable center maximum correntropy
cubature quadrature Kalman filter
