融合UWB+PDR的室内定位方法改进

近年来,随着科技的进步和创新,对室内定位的研究正朝着多技术互补融合的方向发展,将导航技术与室内定位相融合成为目前的研究热点。行人航位推算(PDR)和超宽带(UWB)技术以其独特的定位优势和精确度等众多优点成为室内定位的主流技术,但PDR由于其累积误差的影响只适用于短时间内高精度室内导航需求,而超宽带在复杂环境中,时间信息可能会严重失真,导致定位信息缺失。因此,本文利用扩展卡尔曼滤波(EKF)对两者进行融合改进,以此发挥各自技术优势。试验结果表明,定位解算的终点误差最大为0.819 5 m,最小为0.144 3 m,平均误差为0.347 8 m,位置平均误差为0.475 0 m,有效提升了室内定位的精度。

Improvement of indoor positioning method combining UWB and PDR

In recent years,with the progress and innovation of science and technology,the research of indoor positioning is developing toward the direction of complementary integration of multiple technologies,and the integration of navigation technology with indoor positioning has become a current research hotspot.Pedestrian dead reckoning (PDR) and ultra wide band (UWB) technologies have become mainstream research techniques for indoor positioning with their unique positioning advantages and accuracy among many other advantages.However,PDR is only suitable for high-precision indoor navigation needs in short time due to its cumulative error,while UWB may seriously distort the time information in complex environments,resulting in missing positioning information.Therefore,in this paper,the extended kalman filter (EKF) is used to improve the fusion of the two in order to take advantage of the advantages of each technique.The experimental results show that the maximum endpoint error of the positioning solution is 0.819 5 m,the minimum endpoint error is 0.144 3 m,the average endpoint error is 0.347 8 m,and the average position error is 0.475 0 m,which effectively improves the accuracy of indoor positioning.