UWB辅助INS的室内组合定位方法

Indoor Integrated Positioning Method by UWB Assisted INS

针对UWB/INS组合系统中UWB不同测距信息的时间不同步问题,设计了UWB辅助INS的室内组合定位方法。该方法利用单个UWB RTT测距值和INS系统进行组合,采用一维的UWB/INS紧组合模型对组合系统观测数据进行处理,以此消除UWB测距的时间不同步误差影响。实验结果表明,所述方法在UWB/INS紧组合的基础上能有效地避免UWB同一组测距中的时间不同步误差,进而提高室内定位精度、稳定性和可靠性。

To address the issue of time asynchronous of different UWB ranging information in UWB/INS integrated system,an indoor integrated positioning method by UWB assisted INS is designed.The single RTT ranging value of UWB is combined with the INS system,and a one-dimensional UWB/INS tightly coupled model is used to process the observation data of the integrated system,thus eliminating the influence of time asynchronous errors of UWB ranging.The experimental result shows that on the basis of tightly coupled UWB/INS,this method can effectively avoid time asynchronous errors in the same set of UWB ranging,thus improving the indoor positioning accuracy,stability and reliability.