| 摘要: |
| 在深入研究超宽带（UWB）与车载低成本MEMS的定位原理和算法的基础上，提出了采用UWB辅助MEMS定位的算法，以抑制MEMS的发散并提高定位精度。设计了两者的融合定位算法，完成了基于MEMS/UWB的室内定位技术研究。最终试验运动253.4m，MEMS定位误差小于0.61m，MEMS/UWB融合定位误差小于0.07m。试验结果表明，MEMS/UWB算法与单独的MEMS定位算法相比，有效地提高了定位精度与定位稳定性。 |
| 关键词: 室内定位 MEMS惯性导航 UWB定位 卡尔曼滤波 融合定位 |
| DOI： |
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| 基金项目:西北工业大学研究生创意创新种子基金资助(G2018KY0408) |
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| Indoor Positioning Method Based on MEMS/UWB Combination |
| YU Jia-yu,ZHAO Zhong,LI Fan,HUANG Si-wen |
| (College of Automation, Northwestern Polytechnical University, Xi'an 710072, China) |
| Abstract: |
| Based on the indepth study of the positioning principle and algorithm of UWB and low cost MEMS, a UWB assisted MEMS location algorithm is proposed to suppress the divergence of MEMS and improve the positioning accuracy. The fusion location algorithm is designed and the indoor positioning technology based on MEMS/UWB is completed. Finally, within the total distance of 253.4 meters in the experiment, the MEMS positioning error is less than 0.61 meters, and the MEMS/UWB fusion positioning error is less than 0.07 meters. Experimental results show that the MEMS/UWB algorithm effectively improves the positioning accuracy and the localization stability compared with the single MEMS localization algorithm. |
| Key words: Indoor positioning MEMS inertial positioning UWB positioning Kalman filter Fusion positioning |
