基于UWB/PDR的无基础设施行人协同导航研究

Research on Non-Infrastructure Pedestrian Cooperative Navigation Based on UWB/PDR Combination

在应急救援和单兵作战等GNSS信号受限且无法建立导航定位基础设施的情况下,提出了基于惯性测量单元(IMU)的行人航位推算技术(PDR)测量行人步态信息,并结合此类任务多人行动的编队特点,利用超宽带(UWB)技术实施编队自组网与网内相互测距,建立PDR/UWB多行人扩展卡尔曼滤波模型(EKF)。通过测距信息对PDR进行约束,有效减缓了PDR定位精度随时间发散问题,实现了多人协同导航。试验表明,基于超宽带的集中式协同导航系统在不依靠基础设施的情况下,编队整体定位性能可提高30%。

In situations such as emergency rescue and individual combat where GNSS signals are denied and navigation and positioning infrastructure cannot be set up,the Pedestrian Dead-Reckoning(PDR) technology based on Inertial Measuring Units(IMU) is usually used to measure Pedestrian gait information.According to the formation characteristics of such mission with multi-person operations,the ultra-wideband(UWB) technology is used to implement formation Ad Hoc network and mutual inter-network ranging.The PDR/UWB multi-pedestrian extended Kalman filter(EKF) model is established.By constraining PDR with the ranging information,the divergence of PDR positioning accuracy with time is effectively alleviated,and the multi-person cooperative navigation is realized.The experimental results show that the centralized cooperative navigation system based on UWB can improve the overall positioning performance of formation by 30% without relying on infrastructure.