基于粒子滤波的IMU/UWB组域内自主导航定位研究

Research on autonomous navigation and positioning in IMU/UWB group domain based on particle filtering

由多个移动节点组成的室内班组整体性导航定位对于导航定位精度有效性评价至关重要,针对惯性测量单元(IMU)存在长航时累积误差缺陷,超宽带(UWB)测量无法获取节点方位信息的问题,提出一种结合IMU和UWB测距的方法。在室内外部信息源拒止的情况下,利用多个移动用户自身导航信息以及班组区域内相互的测距信息完成自主导航定位。同时提出基于UWB和IMU的粒子滤波融合算法,将IMU先验状态输出和UWB测量值融入一个概率框架,降低单纯IMU导航定位的累积误差。实验结果表明:结合IMU和UWB测距测量的导航定位系统使班组的整体误差分别在X轴和Y轴方向上降低61.5%和67.5%,能够很好地提高自主导航定位的精度。

Integrity navigation positioning of indoor team composed of multiple mobile node is vital for navigation and positioning precision effectiveness evaluation, aiming at the problem that defect in cumulative error in long-time running that inertial measurement unit(IMU) exists and the ultra-wideband(UWB) measurement is unable to obtain information of node location problem, a method combines IMU with UWB range measurement is put forward.In the case of loss of external information sources, uses the navigation information of multiple mobile users and team areas of mutual distance information to complete the autonomous navigation positioning.At the same time, a particle filter fusion algorithm based on UWB and IMU is proposed to integrate IMU prior state output and UWB measurement values into a probability framework to reduce the cumulative error of simple IMU navigation and positioning.The experiment shows that the navigation and positioning system combining IMU and UWB reduces the overall error of the team by 61.5 % and 67.5 % respectively in the X-axis and Y-axis directions, which can improve the accuracy of autonomous navigation and positioning.