摘要
为了提升室内定位系统在复杂环境中的实用性,提出了带非视距检测的超宽带(UWB)/行人航迹推算(PDR)组合定位方法。该方法过滤了UWB测量由于非视距(NLOS)带来的有害数据,采用残差状态量的卡尔曼滤波将UWB和PDR的有效数据进行融合,避免了由于系统非线性带来的近似误差,提升了组合系统的定位精度和鲁棒性。仿真和实验结果表明,组合定位系统能够消除非视距的影响,始终比单个系统定位精度高,其定位误差90%在1 m以内,为基于室内定位的应用提供了可靠的基础数据。
In order to improve the practicability of indoor localization system in complex environment,a combined Ultra WideBand (UWB)/ Pedestrian Dead Reckoning (PDR) positioning method with non- line-of-sight detection is proposed.This method eliminates the harmful data caused by non- line-of-sight (NLOS) in UWB measurement.Then,the Kalman filter with residual state variables is used to fuse the effective data of UWB and PDR,avoiding the approximate error caused by system nonlinearity,and thus improving the positioning accuracy and robustness of the combined system.The simulation and experimental results show that the integrated positioning system can eliminate the influence of non-line-of-sight.Its accuracy is higher than the single system.The finally positioning error is 90% within 1 meter,which provides reliable data for indoor positioning applications.
作者
陈隆亮
杨昳
袁恩
赵跃新
张超
Chen Longliang;Yang Yi;Yuan En;Zhao Yuexin;Zhang Chao(Army Engineering University of PLA, Nanjing 210007, China;Unit 78111 of PLA, Chengdu 610014, China;Chengdu Vocational & Technical College of Industry, Chengdu 610218, China)
出处
《信息技术与网络安全》
2019年第5期53-57,共5页
Information Technology and Network Security
基金
国家自然科学基金(61573376
61273047)
关键词
超宽带
行人航迹推算
卡尔曼滤波
非视距
ultra wideband
pedestrian dead reckoning
Kalman filter
non-line-of-sight
