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Integrated SINS/WSN Positioning System for Indoor Mobile Target Using Novel Asynchronous Data Fusion Method

机译：用于使用新型异步数据融合方法的室内移动目标集成SINS / WSN定位系统

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摘要

According to the asynchronous transmission of data for the SINS/WSN integrated positioning system, this paper proposes a novel asynchronous data fusion method using Unscented Kalman Filter for SINS/WSN integrated positioning system based on indoor mobile target. The state equation of the integrated system is built with the motion characteristic of mobile target. The pseudo measurement equation is built based on the time sequence of SINS/WSN measured value through detecting the measurement of WSN in every fusion period. Considering that the improved state-space model, comprised of the state equation and pseudo measurement equation, is the nonlinear equations, the Unscented Kalman Filter is applied to estimate the state value of the state-space model. Hence the asynchronous data fusion method for SINS/WSN integrated positioning system can be achieved. Simulation results and experimental tests show that the positioning system with proposed asynchronous data fusion algorithm performs feasibility and stability under circumstances of the asynchronous time, and it is superior to the traditional asynchronous data fusion and synchronous data fusion methods.
机译：根据SINS / WSN集成定位系统的数据的异步传输，本文提出了一种基于室内移动目标的SINS / WSN集成定位系统的Unscented Kalman滤波器的新颖的异步数据融合方法。集成系统的状态等式采用移动目标的运动特性构建。伪测量方程基于SINS / WSN测量值的时间序列通过检测每个融合时段中的WSN测量来构建。考虑到由状态方程和伪测量方程组成的改进的状态空间模型是非线性方程，应用了Unscented的卡尔曼滤波器来估计状态空间模型的状态值。因此，可以实现用于SINS / WSN集成定位系统的异步数据融合方法。仿真结果和实验测试表明，具有所提出的异步数据融合算法的定位系统在异步时间的情况下执行可行性和稳定性，它优于传统的异步数据融合和同步数据融合方法。

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  • 来源
    《Journal of Sensors》 |2017年第3期|共11页
  • 作者

    Yang Hai; Li Wei; Luo Chengming; Zhang Jinyao; Si Zhuoyin;

  • 作者单位

    Southwest Petr Univ Sch Mech Engn Chengdu 610500 Sichuan Peoples R China;

    China Univ Min &

    Technol Sch Mechatron Engn Xuzhou 221116 Jiangsu Peoples R China;

    Hohai Univ Coll Internet Things Engn Changzhou 213022 Jiangsu Peoples R China;

    China Univ Min &

    Technol Sch Mechatron Engn Xuzhou 221116 Jiangsu Peoples R China;

    China Univ Min &

    Technol Sch Mechatron Engn Xuzhou 221116 Jiangsu Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 TP212;
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