杨东辉,甄杰,隋心

• 1:中国测绘科学研究院
• 2:北京四维远见信息技术有限公司
• 3:辽宁工程技术大学测绘与地理科学学院

摘要(Abstract)：

针对室内及室内外过渡区域,GNSS信号受到严重影响导致的定位精度下降甚至无法定位的问题,该文提出了一种新的多传感器组合的室内定位方法。充分利用超宽带(UWB)超高的时间分辨率、良好的抗多径能力和较强的穿透能力,以及激光雷达(LiDAR)所表现在构图与定位方面主动、高效、精确的特点。使得两个系统相互作用,在复杂的室内环境下能够获得厘米级的定位结果。基于室内环境下的实测实验结果表明:无论是在非视距环境下UWB定位能力受到严重影响,还是在LiDAR定位结果出现较大发散的情况下,基于EKF的UWB/LiDAR组合定位系统都能够稳定维持厘米级的定位精度,定位结果比较接近参考轨迹。本文提出的基于EKF的UWB/LiDAR组合定位模型,实现了复杂室内环境下的高精度定位。

关键词(KeyWords)： 室内定位;UWB/LiDAR组合;EKF;非视距

Abstract:

Keywords:

基金项目(Foundation): 国家重点研发计划项目(2016YFC0803102,2016YFB0502201)

作者(Author): 杨东辉,甄杰,隋心

DOI: 10.16251/j.cnki.1009-2307.2019.06.010

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