高精度UWB/SINS组合室内定位系统研究

Study on indoor locating system of high-accuracy UWB/SINS combination

针对水利工程泥沙沉积规律模拟测量实验,提出INS和扫描仪相结合的测量系统,同时在该测量系统中又加入了基于UWB的室内定位技术来解决INS误差积累的问题。通过轨迹发生器和松组合形式的卡尔曼滤波器,对组合定位系统进行模拟仿真。结果表明该组合定位系统中INS和UWB优势互补,抑制误差的同时提高了室内定位系统的定位精度。

Through the simulation measuring experiment of sediment deposition rule in water conservancy project,this paper puts forward a measurement system which combines inertial navigation with scanner.Meanwhile,the indoor positioning system technology based on the UWB was joined in the measurement system to solve the problem of inertial navigation error accumulation.Then a simulation of combined positioning system was carried out according to the track generator and the loosely coupled integration Kalman filter.The result indicated that the inertial navigation of combined positioning system and UWB would have complementary advantages by depressing the error accumulation and improving the positioning accuracy of indoor positioning system as well.