Kalman滤波辅助的室内伪卫星相对定位算法

Indoor pseudolite relative localization algorithm with kalman filter

在室内伪卫星独立定位系统中,伪卫星以及接收机的钟差会给定位精度带来非常大的误差.针对这一问题,提出了一种适用于室内环境的相对定位算法.使用Kalman定位算法粗略计算接收机位置,获得粗略基线,建立室内相对定位模型,得到载波相位双差和伪距双差.载波相位双差通过互补Kalman滤波器来平滑伪距双差,进一步得到精确基线,获得接收机精确位置,并将其代替Kalman定位算法的校正结果,对接收机进行下一状态预测.实验结果表明,该算法具有较高的定位精度,定位误差在20 cm以内.

In the indoor pseudolite positioning system, the effect of the clock offset always leads to a large error in the positioning result. To reduce the effect of the clock offset, a relative localization algorithm for the indoor environment is proposed. In this paper, firstly, the Kalman positioning algorithm is used to obtain the coarse baseline. The model of the indoor relative localization and its operation are shown. Using the Kalman filter, the pseudorange double difference is smoothed by the carrier phase double difference. Then, the accurate baseline and the accurate positioning result of the receiver could be obtained. In order to predict the next state precisely, the Kalman corrected result is replaced by the accurate result. The experimental results show that the proposed algorithm has a good localization accuracy and the positioning error is less than 20 cm.