| 基于惯性导航与UWB的联合定位算法 |
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| 引用本文： | 赵洪亮,李锐君,宋杨,侯维岩.基于惯性导航与UWB的联合定位算法[J].安徽大学学报(自然科学版),2017,41(3). |
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| 作者姓名： | 赵洪亮 李锐君 宋杨 侯维岩 |
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| 作者单位： | 郑州大学 信息工程学院,河南 郑州,450001;郑州大学 西亚斯国际学院,河南 郑州,451150;上海大学 机械自动化学院,上海,200072 |
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| 基金项目： | 国家自然科学基金资助项目，河南省科技厅2015重点科技攻关项目 |
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| 摘 要： | 为提高无GPS情况下的3维定位精度,提出基于惯性导航与UWB(超宽带技术)的联合定位算法.该算法将线性最小二乘法的航迹计算与定位点拟合进行融合,使用加权平均对信赖度因子进行权衡.为验证算法的有效性,设计了1套UWB与9轴惯性导航模块结合的软硬件平台.仿真和实际测试结果表明:该算法可将3维定位误差控制在20cm以内.
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| 关 键 词： | 惯性导航 UWB 加权平均 |
Combined positioning algorithm based on inertial navigation and UWB |
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| ZHAO Hongliang,LI Ruijun,SONG Yang,HOU Weiyan.Combined positioning algorithm based on inertial navigation and UWB[J].Journal of Anhui University(Natural Sciences),2017,41(3). |
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| Authors: | ZHAO Hongliang LI Ruijun SONG Yang HOU Weiyan |
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| Abstract: | In order to improve three-dimensional(3D) positioning accuracy without the global positioning system(GPS), a combined positioning algorithm based on inertial and UWB(ultra wide band) was proposed.The algorithm combined with ideas of the track estimation which was based on the linear least squares method and the fitting thought and used the weighted mean thought to weight the dependable factors.For verifying the algorithm's availability, a hardware and software platform uniting UWB and nine-axis inertial navigation modules was designed.The simulation and practical testing results showed that the algorithm could control 3D positioning errors within 20 cm. |
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| Keywords: | inertial navigation system ultra wide band (UWB) weighted mean |
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