融合Wi-Fi RTT/惯导的室内小车定位

Indoor car positioning using Wi-Fi RTT/inertial navigation fusion

本研究提出了一种基于卡尔曼滤波器的室内定位方法,利用Wi-Fi RTT和惯导技术融合实现室内小车定位研究。Wi-Fi RTT定位技术既能够提供快速定位也能在定位精度上得到保障。惯导系统不易受外界干扰,具有较强的稳定性和抗干扰能力。本研究对两者进行技术融合,实现室内消费级小车定位。本文提出的融合定位系统通过误差状态卡尔曼滤波器(ESKF)得到最优估计。首先Wi-Fi RTT定位系统通过使用扩展卡尔曼滤波(EKF)获取测距信息,并得到定位和测距值。将Wi-Fi RTT测距值作为滤波约束,融合惯导数据实现最优定位估计。然后通过RTS平滑器进一步平滑惯导系统的定位误差。最后对惯导系统定位结果中的平滑误差进行补偿,从而修正惯导系统的定位误差,得到最优估计下的定位结果。

This study proposes an indoor positioning method based on the Kalman filter,utilizing the fusion of Wi-Fi RTT and inertial navigation technology to achieve the positioning of an indoor vehicle.Wi-Fi RTT positioning technology can provide fast positioning while ensuring accuracy.The inertial navigation system is not easily affected by external interference and has strong stability and antiinterference capabilities.This research integrates the two technologies to achieve indoor consumer-grade vehicle positioning.The proposed fusion positioning system obtains the optimal estimate through the error state Kalman filter(ESKF).The Wi-Fi RTT positioning system uses the extended Kalman filter(EKF)to obtain ranging information,achieving positioning and ranging values.The Wi-Fi RTT ranging values are used as filtering constraints,integrating inertial navigation data to achieve the optimal positioning estimate.The positioning error of the inertial navigation system is then further smoothed by the RTS smoother.Finally,the smoothing error in the positioning results of the inertial navigation system is compensated to correct the positioning error of the inertial navigation system and obtain the optimal estimation of the positioning result.