一种新型的INS与UWB融合的室内行人跟踪方法

针对单一室内定位系统定位精度低、鲁棒性差的问题,提出了一种新型的基于动态鲁棒容积卡尔曼滤波的超宽带(Ultra-wideband,UWB)与惯性导航系统(Inertial Navigation System,INS)融合的定位方法.首先建立了一种易于实现的UWB-INS融合定位框架,然后提出了一种动态鲁棒容积卡尔曼滤波...

A novel indoor pedestrian tracking method with fusion of INS and UWB

For the problems of low positioning accuracy and poor robustness of a single indoor positioning system,a new positioning method with fusion of ultra-wideband(UWB) and inertial navigation system(INS) based on the dynamic-robust cubature Kalman filter is proposed.An integrated UWB-INS positioning framework is established and then a dynamic-robust cubature Kalman filter algorithm is proposed to carry out the multivariate data fusion.The proposed filter algorithm can combine the advantages of the M-estimation theory,the strong tracking algorithm,and the dynamic enhancement strategy with the traditional cubature Kalman filter algorithm to alleviate the adverse effects of external noises and system model errors for state estimation.The dynamic-robust cubature Kalman filter is adopted in the UWB-INS integrated positioning framework to achieve accurate and stable tracking of indoor pedestrians.The proposed positioning method is verified by the actual data measurements and the Matlab simulation.Better positioning accuracy and robustness is achieved in comparison with that of the positioning system only based on UWB or INS technology in complex scenarios.