摘要
为提高无GPS情况下的3维定位精度,提出基于惯性导航与UWB(超宽带技术)的联合定位算法.该算法将线性最小二乘法的航迹计算与定位点拟合进行融合,使用加权平均对信赖度因子进行权衡.为验证算法的有效性,设计了1套UWB与9轴惯性导航模块结合的软硬件平台.仿真和实际测试结果表明:该算法可将3维定位误差控制在20cm以内.
In order to improve three-dimensional（3D） positioning accuracy without the global positioning system（GPS）, a combined positioning algorithm based on inertial and UWB （ultra wide band） was proposed. The algorithm combined with ideas of the track estimation which was based on the linear least squares method and the fitting thought and used the weighted mean thought to weight the dependable factors. For verifying the algorithm＇s availability, a hardware and software platform uniting UWB and nine-axis inertial navigation modules was designed. The simulation and practical testing results showed that the algorithm could control 3D positioning errors within 20 cm.
出处
《安徽大学学报（自然科学版）》
CAS
北大核心
2017年第3期90-96,共7页
Journal of Anhui University(Natural Science Edition)
基金
国家自然科学基金资助项目(61573237)
河南省科技厅2015重点科技攻关项目(152102210344)
关键词
惯性导航
UWB
加权平均
inertial navigation system
ultra wide band （UWB）
weighted mean
