一种基于IMU辅助超宽带的室内导航数据融合新方法

2019 IEEE 2nd International Conference on Electronic Information and Communication Technology (ICEICT) Pub Date : 2019-01-01 DOI:10.1109/ICEICT.2019.8846360

H. Cao, Jun-Wei Liu, Chenzhuo Zhu, Li Jing, Tao Chen, Tao Wang

{"title":"一种基于IMU辅助超宽带的室内导航数据融合新方法","authors":"H. Cao, Jun-Wei Liu, Chenzhuo Zhu, Li Jing, Tao Chen, Tao Wang","doi":"10.1109/ICEICT.2019.8846360","DOIUrl":null,"url":null,"abstract":"This paper proposes an unscented kalman filter (UKF) method for the IMU aided UWB indoor navigation system. GDOP is selected as the independent variable to analyze the positioning accuracy quantitatively, and the static, linear and circular motion states of the tag are simulated and analyzed. Based on the simulation analysis of the fusion positioning model, a TDOA-IMU positioning system is designed and implemented for verification. The simulation and experimental results both show that a higher positioning accuracy in linear and circular motion state is realized using TDOA-IMU fusion positioning. Compared with TDOA positioning alone, 80% probability circle error radius (CEP) in the region far from the anchor node is reduced from 0.530m to 0.340m.","PeriodicalId":382686,"journal":{"name":"2019 IEEE 2nd International Conference on Electronic Information and Communication Technology (ICEICT)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Novel Data Fusion Method For Indoor Navigation Using IMU Aided UWB\",\"authors\":\"H. Cao, Jun-Wei Liu, Chenzhuo Zhu, Li Jing, Tao Chen, Tao Wang\",\"doi\":\"10.1109/ICEICT.2019.8846360\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes an unscented kalman filter (UKF) method for the IMU aided UWB indoor navigation system. GDOP is selected as the independent variable to analyze the positioning accuracy quantitatively, and the static, linear and circular motion states of the tag are simulated and analyzed. Based on the simulation analysis of the fusion positioning model, a TDOA-IMU positioning system is designed and implemented for verification. The simulation and experimental results both show that a higher positioning accuracy in linear and circular motion state is realized using TDOA-IMU fusion positioning. Compared with TDOA positioning alone, 80% probability circle error radius (CEP) in the region far from the anchor node is reduced from 0.530m to 0.340m.\",\"PeriodicalId\":382686,\"journal\":{\"name\":\"2019 IEEE 2nd International Conference on Electronic Information and Communication Technology (ICEICT)\",\"volume\":\"76 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE 2nd International Conference on Electronic Information and Communication Technology (ICEICT)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICEICT.2019.8846360\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE 2nd International Conference on Electronic Information and Communication Technology (ICEICT)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICEICT.2019.8846360","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

针对IMU辅助超宽带室内导航系统，提出了一种无气味卡尔曼滤波(UKF)方法。选取GDOP作为自变量定量分析定位精度，并对标签的静态、线性和圆周运动状态进行仿真分析。在对融合定位模型进行仿真分析的基础上，设计并实现了TDOA-IMU定位系统进行验证。仿真和实验结果均表明，TDOA-IMU融合定位在直线和圆周运动状态下都能实现较高的定位精度。与单独的TDOA定位相比，远离锚节点区域的80%概率圆误差半径(CEP)从0.53 m减小到0.340m。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A Novel Data Fusion Method For Indoor Navigation Using IMU Aided UWB

This paper proposes an unscented kalman filter (UKF) method for the IMU aided UWB indoor navigation system. GDOP is selected as the independent variable to analyze the positioning accuracy quantitatively, and the static, linear and circular motion states of the tag are simulated and analyzed. Based on the simulation analysis of the fusion positioning model, a TDOA-IMU positioning system is designed and implemented for verification. The simulation and experimental results both show that a higher positioning accuracy in linear and circular motion state is realized using TDOA-IMU fusion positioning. Compared with TDOA positioning alone, 80% probability circle error radius (CEP) in the region far from the anchor node is reduced from 0.530m to 0.340m.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2019 IEEE 2nd International Conference on Electronic Information and Communication Technology (ICEICT)

自引率

0.00%

发文量