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首页> 外文会议>International Conference on Management, Education, Information and Control >Improvement and Verification for Combined Positioning Algorithm Based on UWB and Inertial Navigation
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Improvement and Verification for Combined Positioning Algorithm Based on UWB and Inertial Navigation

机译：基于UWB和惯性导航的组合定位算法改进与验证

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摘要

In order to meet requirements of three-dimensional (3D) indoor positioning in the environment with multipath interference and non-line-of-sight (NLOS) errors, this paper improves setting rules of trusted factors about ultra wide band (UWB) and the inertial navigation system (INS) to the indoor positioning algorithm, realizing confidence factors' dynamic calibration. A method to restrain NLOS errors is proposed, and the fitting method is used to smooth singular points in the track. An actual system is built to verify the improved performance of this algorithm. The actual tests show that the algorithm can effectively improve the 3 dimensional positioning accuracy, positioning error can be controlled within 20cm.
机译：为了满足具有多径干扰和非视线（NLOS）错误环境中的三维（3D）室内定位的要求，提高了关于超宽频段（UWB）的可信因子的规则和惯性导航系统（INS）到室内定位算法，实现置信因素的动态校准。提出了一种抑制NLOS误差的方法，配件方法用于平滑轨道中的奇点。构建实际系统以验证该算法的提高性能。实际测试表明，该算法可以有效地提高3维定位精度，定位误差可以控制在20cm内。

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