| 摘要: |
| 针对超宽带（Ultra-wideband,UWB）定位系统受非视距（Non-line of Sight,NLOS）误差影响较大，以及惯性测量单元（Inertial Measurement Unit,IMU）定位系统受累积误差影响较大的问题，提出了一种基于多源信息的改进融合定位模型。首先,对UWB测量模型进行优化，通过差分气压计测高的方法对NLOS信号进行鉴别，并通过加权最小二乘法削弱NLOS信号对UWB定位结果的影响。然后对数据融合算法进行优化，引入IMU累积误差门限降低累积误差对IMU定位结果的影响，提高融合定位精度。最后，使用UWB、IMU系统在室内复杂环境中的实测数据进行Matlab仿真，验证了改进融合定位模型在定位精度上比基础融合定位模型提高了45.71%。 |
| 关键词: 超宽带定位系统 室内定位 惯性测量单元 多源信息融合 |
| DOI： |
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| 基金项目:国家自然科学基金资助项目(61671096) |
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| An improved indoor location method based on multi-source information fusion |
| LIU Qilie,WAN Zhipeng,ZHOU Wenmin,CHEN Cheng |
| (School of Communication and Information Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400065,China) |
| Abstract: |
| For the problem that ultra-wideband(UWB) positioning system is greatly affected by non-line of sight(NLOS) errors and inertial measurement unit(IMU) positioning system is greatly affected by accumulated errors,an improved fusion positioning model based on multi-source information is proposed.In the fusion positioning model,the results of the UWB measurement model are first optimized.NLOS signals are identified by the differential barometer altime-measuring method,and the influence of these signals on the UWB positioning is weakened by the weighted least square method.Then,the results of the data fusion algorithm are optimized.IMU cumulative error threshold is introduced to reduce the cumulative error impact on IMU positioning results and improve the fusion positioning accuracy.Finally,the UWB and IMU positioning systems actual measurement data in the complex indoor environment is used in the Matlab simulation,which verifies that the improved fusion positioning model improves the positioning accuracy by 45.71% compared with the basic fusion positioning model. |
| Key words: ultra-wideband positioning system indoor positioning inertial measurement unit multi-source information fusion |
