超宽带与惯性导航组合的室内导航定位Application of UWB/INS combination in indoor navigation and positioning
刘韬,徐爱功,隋心
摘要(Abstract)：
针对室内环境下缺少GNSS信号,且超宽带(UWB)定位精度受非视距误差影响明显的问题,该文提出了基于UWB/INS组合的室内导航定位方法。该方法利用惯性导航系统(INS)推算的位置和速度信息与UWB解算的位置和速度信息的差值作为量测信息,按先验阈值鉴别并剔除非视距误差,通过扩展卡尔曼滤波进行室内导航定位。实验结果表明,该方法能有效抑制非视距误差的影响,大幅提升导航定位精度,稳定性更高,可靠性更强,适用于较高精度的室内导航定位。
关键词(KeyWords)： 室内导航定位;非视距误差;UWB/INS组合;扩展卡尔曼滤波;惯性导航系统
基金项目(Foundation): 国家重点研发计划项目(2016YFC0803102);; 辽宁省高等学校创新团队项目(LT2015013)
作者(Author): 刘韬,徐爱功,隋心
DOI: 10.16251/j.cnki.1009-2307.2016.12.033
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