基于UWB优化配置的室内行人导航方法

Indoor pedestrian navigation method based on optimal allocation of UWB

在卫星信号无法覆盖的室内条件下,行人的精确导航问题是当前研究的热点。为解决基于MEMS的微惯性导航系统误差随时间发散、航向角发散快的问题,提出了一种利用UWB辅助修正惯性导航系统,实现室内较高精度定位的方法。该方法采用基于零速修正的微惯导系统进行导航,以抑制惯导误差随时间发散,并在建筑内拐角、楼梯口等关键节点处优化配置UWB设备,采用UWB信息与微惯导数据进行卡尔曼滤波,实现对微惯导航向及位置的修正。与大规模使用UWB系统进行室内定位相比,该方法降低了系统布设成本,避免了UWB出现问题时对整体导航结果的影响,有效地保证了系统的定位精度。行走实验表明:直线行走时,微惯导最终定位误差为1.8%;转弯行走时,在UWB辅助定位下,微惯导最终定位误差小于1.0%。

In view that the heading and positioning errors of the MEMS micro-inertial navigation system is divergent with time, a method for realizing the indoor high-precision pedestrian positioning system is put forward based on an ultra-wideband-aided micro-inertial navigation system. A micro-inertial navigation system based on zero velocity update is adopted to suppress the divergence of inertial navigation error with time. The UWB（Ultra-wideband） equipment is optimally installed in key areas of the building, and a Kalman filter is used to modify the direction and the position of the micro-inertial navigation system with the help of the UWB signal and the inertial navigation data. Compared with the method based on a large number of UWB devices, the proposed method has such advantages as high positioning accuracy, low cost, high autonomy, etc. Meanwhile, this method can avoid the poor UWB information＇s influences on the overall navigation results. The walking experiments indicate that the final positioning error of the micro-inertial navigation system is 1.8% in the linear walking, and the final positioning error is less than 1.0% when assisted with the UWB in the turning walking.