摘要
针对传统组合导航算法在卫星信号拒止和室内环境下难以适用的问题,本文使用超宽带(UWB)定位技术辅助GNSS/INS导航系统,推导了附加UWB约束的组合导航卡尔曼滤波模型,在数据处理层面,利用UWB距离测量的先验方差构建噪声矩阵;为验证其有效性,在武汉大学防空洞进行了推车试验。结果表明,UWB定位信息的加入能够有效抑制速度和位置的快速发散,在GNSS信号中断50 s后,E、N、U 3个方向的速度漂移分别为0.236、0.284和0.179 m/s,位置漂移为5.247 m,导航精度相较于传统算法,提高了80%以上。
In order to solve the problem of traditional integrated navigation algorithms being difficult to apply in satellite signal rejection and indoor environments,ultra wideband(UWB)positioning technology is considered to assist GNSS/INS navigation systems.We derive a combined navigation Kalman filter model with additional UWB constraints and construct a noise matrix using the prior variance of UWB distance measurement at the data processing level.To verify the effectiveness of the proposed method,we conduct a trolley experiment in the air raid shelter of Wuhan university.The experimental results show that the addition of UWB positioning information can effectively suppress the rapid divergence of velocity and position.After 50 seconds of GNSS signal interruption,the velocity drift in the E,N,and U directions is 0.236,0.284,and 0.179 m/s,respectively,and the position drift is 5.247 m.The navigation positioning accuracy is improved by more than 80%compared to traditional algorithms.
作者
周涛
邹进贵
赵胤植
周振南
伍靖雯
黄俊峰
闵会
ZHOU Tao;ZOU Jingui;ZHAO Yinzhi;ZHOU Zhennan;WU Jingwen;HUANG Junfeng;MIN Hui(School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;Surveying and Mapping Emergency Support Center,Department of Natural Resources of Hubei Province,Wuhan 430064,China)
出处
《测绘通报》
CSCD
北大核心
2024年第11期78-82,共5页
Bulletin of Surveying and Mapping
基金
国家自然科学基金(41871373)
湖北省自然科学基金计划(2024AFB166)。
关键词
组合导航
低成本
超宽带
卡尔曼滤波
integrated navigation
low cost
ultra wideband
Kalman filtering
