GNSS辅助UWB基站位置估计方法

GNSS assisted location estimation method of UWB base stations

针对在全球卫星导航系统(GNSS)及超宽带(UWB)组合的室内外无缝定位系统中,室内定位基准取决于UWB基站的位置基准,与GNSS通常所用的大地坐标系不一致的问题,提出一种基站位置估计方法:利用携带GNSS接收机和UWB标签的移动站来估计室内UWB基站位置;以移动站获取的GNSS坐标和UWB测距信息作为观测量,采用扩展卡尔曼滤波(EKF)法解算UWB基站坐标,使UWB定位基准自然统一到大地坐标系下。实验结果表明:该方法具有较好的估计效果;UWB基站无需提前布设,自然统一到大地坐标系下。

Aiming at the problem that in the indoor and outdoor seamless positioning system combined by global navigation satellite system(GNSS)and ultra wide band(UWB),the indoor positioning reference depends on the position reference of UWB base station,which is not consistent with the geodetic coordinate system usually used by GNSS,the paper proposed a positioning estimation method of base stations:mobile stations carrying GNSS receivers and UWB tags were used to estimate the location of indoor UWB base stations;taking the GNSS coordinates and UWB ranging information obtained by the mobile station as observations,the extended Kalman filter(EKF)was used to calculate the UWB base station coordinates,so that the UWB positioning datum was naturally unified under the geodetic coordinate system.Experimental result showed that the proposed method could have good estimation effects,and the UWB base station would be naturally unified to the geodetic coordinate system without being laid out in advance.