基于GNSS/UWB的室内外连续定位方法

全球卫星导航系统(GNSS)与超宽带(UWB)等定位系统在室内外复杂环境下作用范围有限，并且单一定位源均无法获得从室外到室内连续可靠的定位结果等问题，针对北斗卫星导航系统(BDS)+GPS/UWB松组合定位方法展开研究，设计了室内外动态定位实验与过渡区域静态定位实验，利用扩展卡尔曼滤波器(EKF)对定位误差状态进行最优估计，并对BDS+GPS组合、UWB以及BDS+GPS/UWB松组合三种定位模式进行分析评价. 实验结果表明:在室内外的过渡区域，BDS+GPS/UWB松组合改善了GNSS-实时动态定位(RTK)的定位精度，扩展了GNSS-RTK的作用范围；BDS+GPS/UWB松组合相比于各单一定位源在一定程度上提高了系统从室外到室内定位的连续性与定位结果的可用性. 

GNSS/UWB based indoor and outdoor continuous positioning method

To address the problems that Global Navigation Satellite System (GNSS) and ultra-wideband (UWB) positioning systems have limited range in complex indoor and outdoor environments, and that no single source can obtain continuous and reliable positioning results from outdoor to indoor. In this paper, we investigate the BeiDou Navigation Satellite System (BDS)+GPS/UWB loose combination positioning method, design dynamic indoor and outdoor positioning experiments and static positioning experiments in the transition area, use the extended Kalman filter to optimally estimate the positioning error state, and analyze and evaluate three positioning modes: BDS+GPS combination, UWB and loose combination. The experimental results show that the combination of BDS+GPS/UWB improves the positioning accuracy and extends the range of GNSS-real-time kinematic (GNSS-RTK) in the indoor-outdoor transition area, and the combination of BDS+GPS/UWB improves the continuity and usability of the system from outdoor to indoor positioning compared with each single source.