基于改进强跟踪滤波器的UWB/AHRS紧组合定位方法

针对遮挡环境下的车辆定位问题，提出一种基于改进强跟踪滤波（ISTF）算法的超宽带（UWB）与航姿参考系统（AHRS）紧组合定位方法.该方法使用阈值鉴别UWB测距异常值并消除其影响，将强跟踪滤波（STF）算法应用到紧组合系统的数据融合中，并结合定位模型对算法进行改进，以提高算法的稳定性和对观测噪声的估计精度.仿真与实验结果表明，该方法能在复杂工况下提供车辆精确的定位信息，与UWB单独定位及采用几种非线性滤波算法相比，系统的鲁棒性更强、定位精度更高，具有很强的实用性. 

Tightly-Coupled UWB/AHRS Integrated Navigation Based on Improved Strong Tracking Filter

For the positioning problem of vehicle in the occluded environment, a tightly coupled positioning method was proposed based on improved strong tracking filter for ultra wideband (UWB) and attitude and heading reference system (AHRS). In the method, the threshold was used to identify the UWB ranging anomaly value and eliminate its influence. A strong tracking filter (STF) algorithm was applied to the data fusion of the tightly coupled system, and the algorithm was improved by combining the positioning model to improve the stability of the algorithm and the estimation accuracy of the observed noise. The simulation and test results show that, the proposed method can provide accurate positioning information of vehicles in complex conditions. Compared with the single positioning of UWB and the use of several nonlinear filtering algorithms, the system has stronger robustness, higher positioning accuracy, and has strong practicality.