| 摘要: |
| 在特殊环境下全球定位系统(GPS)信号强度被严重削弱，此时基于GPS技术的导航设备将受到严重影响。针对不依赖GPS的行人导航定位需求，提出了一种基于微机电捷联惯导系统(SINS)与超宽带(UWB)定位系统相结合的行人导航方法。该系统由捷联惯导系统与超宽带定位系统组成，行人导航算法在传统的捷联算法的基础上引入了零速修正技术用于检测零速时刻，并使用阈值法剔除了超宽带错误信息，通过联邦Kalman滤波融合了零速、位置和航向信息，并对系统速度、位置、航向进行了校正。行人导航实验表明，该方法能够提升系统定位精度，并进一步加强系统的稳定性与可靠性。 |
| 关键词: 导航 零速检测 联邦Kalman滤波 超宽带 |
| DOI： |
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| 基金项目:江苏省重点研发计划（BE2016176）；江苏省六大人才高峰项目（2016-HYGC-001） |
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| Research on Pedestrian Navigation Based on UWB/SINS Combination |
| CHEN Hao,ZHANG Hai-hua,CHEN Wei-guang,LIU Xi-xiang,WANG Song-bing |
| (State Grid Jiangsu Electric Power Co., Ltd.， Maintenance Company，Nanjing 211102，China;School of Instrument Science and Engineering, Southeast University，Nanjing 210096，China) |
| Abstract: |
| The signal intensity of Global Positioning System (GPS) is seriously weakened in special environment, and the navigation equipment based on GPS will be seriously affected. To meet the needs of the pedestrian navigation that does not rely on GPS, a pedestrian navigation method based on micro-electro-mechanical strapdown inertial navigation system (SINS) and ultra wideband (UWB) is presented in this paper. The system consists of the SINS and UWB positioning system. The pedestrian navigation algorithm introduces zero-speed correction technology in the traditional strapdown algorithm to detect zero-speed moment, and uses threshold method to eliminate the ultra-wideband error information. Zero speed, position and heading information are fused by federal Kalman filtering to correct the system speed, position and heading. Pedestrian navigation experiments show that this method can improve the positioning accuracy of the system and further enhance the stability and reliability of the system. |
| Key words: Navigation Zero-speed detection Federated Kalman filtering Ultra-wideband |
