UWB/惯性技术组合优化的室内定位技术研究

Research on indoor positioning technology optimized by UWB/inertial technology combination

对室内行人定位技术进行了研究,提出一种基于UWB与惯性技术组合优化的定位方案。在UWB定位过程中,针对TOF测距值存在随机噪声和NLOS误差的问题,采用线性卡尔曼滤波器来平滑测距值,并在不同运动状态下分别采用新息判别和PDR区域估计两种措施识别NLOS误差。针对不规则运动时滤波器模型与真实运动模型存在误差而引起滤波器动态性能不理想的问题,引入渐消因子阵来提升滤波器的收敛效果。最后,利用UWB定位结果抑制PDR的累计误差,并借助PDR辅助实现UWB非视距中断区域的补偿。实验结果表明,组合定位方法可有效抑制NLOS误差,特别是在UWB信号受到严重干扰,出现连续位置丢失的区域,仍能保证连续定位。

In this paper,the indoor pedestrian positioning technology is studied,and a positioning scheme based on UWB and inertial technology combination optimization is proposed.In the UWB positioning process,there are problems of random noise and NLOS error for TOF ranging values.Linear Kalman filter is used to smooth the ranging value,and two measures of innovation discrimination and PDR area estimation are adopted in different motion states.Identify non-line-of-sight errors.Aiming at the problem that the filter model and the real motion model have irregularities in the irregular motion and cause the dynamic performance of the filter to be unsatisfactory,this paper introduces the fading factor matrix to improve the convergence effect of the filter.Finally,this paper uses UWB positioning results to suppress the cumulative error of PDR,and uses PDR to assist the compensation of UWB non-line-of-sight interruption area.The experimental results show that the proposed method can effectively suppress the NLOS error,especially in the area where the UWB signal is seriously interfered and the continuous position is lost,and the continuous positioning can be guaranteed.