一种高精度地图辅助的UWB/INS组合定位方法

A High Accuracy Map Aided UWB / INS Integrated Positioning Method

提出了一种高精度地图辅助的UWB/惯性导航系统(Inertial Navigation System,INS)紧组合定位算法,即利用数字测图方法获得高精度地图信息并建立地图数据库,采用线段匹配算法识别非视距(Non-Line-of-Sight,NLOS),使用抗差卡尔曼滤波(Robust Kalman Filter,RKF)融合UWB/INS的组合定位方法。实验结果表明,本文提出的算法平面定位精度在0.25 m内,能够在复杂的室内环境下提高UWB/INS组合定位系统的定位精度和稳定性。

This paper proposes a high accuracy map aided UWB/INS tightly integrated positioning algorithm.The digital mapping method is used to obtain high-accuracy map information and establish a map database.The line segment matching algorithm is used to identify Non-Line-of-Sight(NLOS),and the Robust Kalman Filter is used to fuse the UWB/INS integrated positioning method.The experimental results show that the planimetric positioning accuracy of the proposed algorithm is within 0.25 meters,which can improve the positioning accuracy and stability of UWB/INS integrated positioning system in complex indoor environment.