基于捷联惯导系统补偿的UWB的室内定位方法研究

The Method of UWB indoor Positioning technology based on the Strapdown inertial navigation system

根据超宽带定位系统在室内定位应用,分析UWB信号丢失或被遮挡时类型,将基于捷联惯导系统的惯性器件IMU的加速度计在三个方向的增量信息作为UWB丢失信号的补偿,从而改善UWB在室内定位中的精度。通过仿真实验测得在UWB信号丢失10s时间,该设计可以将原来的位置误差缩小到2m以内。针对设计的定位模型,利用实验室设备搭建该原理样机,通过半物理仿真试验,证明基于捷联惯导系统的UWB室内定位系统在水平面X轴与Y轴误差基本保持在0.5m范围内。

rAccording to the UWB in the indoor positioning application, the UWB positioning system positioning is not accurate when the UWB signal is lost or blocked. In view of this, the position information of the accelerometer in the three directions and the positioning output information of the UWB at the same time are designed as the input of the UWB positioning system. The simulation results have show.ed that the position error can be reduced to less than 2 m when the loss of the UWB signal for 10s. According to the design of the positioning model, I use the laboratory equipment to build the prototype of the principle. Through the semi-physical simulation test, experiments have showed that the UWB indoor positioning system based on IMU can keep the error in range of 0.5m in the X axis and Y axis.