基于UWB/INS紧耦合的室内定位系统

Indoor positioning system based on tight coupling of UWB/INS

对超宽带(Ultra Wideband,UWB)定位系统在室内定位中的应用进行研究,设计一个基于UWB和惯性导航系统(Inertial Navigation System,INS)紧耦合的室内定位系统,以改善非视距(Non-Light Of Sight,NLOS)干扰影响定位精度的问题。该系统采用双边双向测距消除时钟偏移的影响,利用扩展卡尔曼滤波(Extended Kalman Filter,EKF)实现UWB和INS的紧耦合,通过计算测距信号的增益和测距残差的卡方检验,设置门限判定测距异常值。根据正常测距值对INS的预测位置进行校正,避免累积误差,确保定位系统能够在连续时间内提供高精度的定位。仿真实验结果表明,该系统能够有效抑制NLOS干扰,优于单个传感器的定位精度。

The application of ultra-wideband(UWB)positioning system in indoor positioning is investigated to design an indoor positioning system based on the tight coupling of UWB and inertial navigation system(INS),in order to improve the non-light of sight(NLOS)interference that affects the positioning accuracy.The system adopts bilateral bidirectional ranging to eliminate the influence of clock offset,and utilizes the extended Kalman filter(EKF)to realize the tight coupling of UWB and INS,and sets a threshold to determine the ranging outliers by calculating the gain of ranging signals and the chi-square test of ranging residuals.The predicted position of the INS is corrected according to the normal ranging value to avoid cumulative errors and to ensure that the positioning system can provide high-precision positioning in continuous time.Simulation results show that the system can effectively suppress NLOS interference and outperform the localization accuracy of a single sensor.