INS/UWB的姿态估计的室内导航无缝切换

Seamless Handover of Indoor Navigation Based on INS/UWB Attitude Estimation

地理坐标系是室外导航通用坐标系,室外导航定位系统常采用GNSS、INS等量测载体的姿态、位置信息,往往投影到地理坐标系,而超宽带定位技术是室内导航中研究的热点,将载体状态量投影到有别于地理坐标系的室内UWB坐标系。而要实现室内室外导航无缝平滑切换,关键问题是统一UWB定位的室内坐标系和室外地理坐标系,并使二者相互转换。利用INS/UWB组合导航定位技术,依据地理坐标系到UWB坐标系的姿态转换的欧拉旋转定理设计卡尔曼滤波模型,实现在UWB导航坐标系相对于地理导航坐标系的姿态角和欧拉余弦矩阵的估算输出,有效解决了量测数据投影,从而实现UWB坐标系到地理坐标系的统一转换。相比于两种导航模式的相互切换,克服“垂直切换”造成的系统抖动,提高系统稳定性,同时比精确量测室内标记点的方法易操作,通用性更强。能够实现短时间、小误差的姿态估计输出。具有较强的市场应用价值。

Geographic coordinate system is a general coordinate system for outdoor navigation.GNSS and INS are often used in outdoor navigation and positioning system to measure the attitude and position information of the carrier.But Ultra-wideband positioning technology is a research hotspot in indoor navigation.The carrier state is projected to the indoor UWB coordinate system which is different from the geographic coordinate system.In order to achieve seamless switching of indoor and outdoor navigation,the key problem is to unify the indoor coordinate system and outdoor geographic coordinate system of UWB positioning.According to Euler rotation theorem of attitude transformation from geographic coordinate system to UWB coordinate system,the INS/UWB which integrated navigation and positioning was feed to Kalman filter.By estimating the attitude angle and Euler cosine matrix of UWB navigation coordinate system relative to geographic navigation coordinate system,the unified transformation from UWB coordinate system to geographic coordinate system is a method to solve the unification of measurement data.Compared with the switching between the two navigation modes,it has overcome the system jitter caused by“vertical switching”and improved the stability.At the same time,it is easier to operate versatilely than the method of accurately measuring indoor marking points.Attitude estimation with quick response and high precision can be realized.It is of strong market application value.