摘要
微型惯性测量技术(MIMU)具有自主的相对定位能力,超宽带通信(UWB)技术具备高速的数据传输能力,惯性测量技术与超宽带通信技术(MIMU/UWB)两者的组合可提供高精度的位置服务,是当前区域组合导航领域研究热点之一。本文使用LinkIt ONE开发板构建一套MIMU/UWB系统嵌入式实验平台,研究了基于运动模型的航位推算算法,开展了数值仿真分析和真实场景下室内跑车动态与静态试验。试验表明,与传统的惯性导航定位系统相比,MIMU/UWB组合定位系统在定位精度、连续性和稳健性等方面有明显的提高。
The miniature inertial measurement unit ( MIMU) technology has an autonomous relative positioning capability, and the ultra-wideband eommunieation ( UWB) technology can realize high-speed data transmission. The integration of the two technologies can provide high accuracy location service, and it is a hotspot in t|he research field of integrated navigation. In this paper, the Linklt ONE development board is used to construct a MIMU/UWB embedded experimental platform, the dead reckon-ing algorithm based on the motion model is studied and the simulation analysis and the dynamic and static tests of indoor sports ear in real scenario are carried out. Experiments show that the MIMU/UWB integrated positioning system can improve the positio-ning accuracy, continuity and robustness significantly compared with the traditional inertial navigation and positioning system.
作者
苏凡伟
周庆勇
阮鑫
Su Fanwei;Zhou Qingyong;Ruan Xin(Unit 32023,DaLian 116000,China;Xi'an Research Institute of Surveying and Mapping,Xi'an 710054,China;State Key laboratory of Geo-Information Engineering,Xi'an 710054 China)
出处
《测绘科学与工程》
2018年第6期23-28,共6页
Geomatics Science and Engineering
关键词
全球卫星导航系统
定位精度
稳健性
Global Navigation Satellite System
positioning accuracy
robustness
