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一种新型的INS与UWB融合的室内行人跟踪方法
吴翠先,周文敏,刘期烈,万志鹏
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(1.重庆邮电大学 a.通信与信息工程学院;b.通信新技术应用研究中心，重庆 400065;2.重庆信科设计有限公司，重庆 401121;1.重庆邮电大学通信与信息工程学院，重庆 400065)

摘要:

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算法以处理多源数据的融合。提出的滤波算法可将M估计理论、强跟踪算法、动态增强策略与传统的容积卡尔曼滤波算法结合，以此缓解外界噪声和系统模型误差对状态估计的不利影响。在UWBINS组合定位框架内采用动态鲁棒容积卡尔曼滤波，可实现对室内行人运动轨迹的精确稳定跟踪。实际数据测试和Matlab仿真验证了所提方法在复杂环境下其定位精度和鲁棒性均优于单一依赖UWB或INS技术的定位系统。

关键词: 室内行人跟踪；超宽带惯性导航组合定位系统动态增强鲁棒容积卡尔曼

DOI：

基金项目:

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

WU Cuixian,ZHOU Wenmin,LIU Qilie,WAN Zhipeng

(1a.School of Communication and Information Engineering;1b.Research Center of New Telecommunication Technology,Chongqing University of Posts and Telecommunications,Chongqing 400065,China; 2.Chongqing Information Technology Designing Co.,Ltd.,Chongqing 401121,China.;1a.School of Communication and Information Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)

Abstract:

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.

Key words: indoor pedestrian tracking ultra-wideband inertial navigation system integrated positioning system dynamic enhanced robust cubature Kalman filter