基于UWB/PDR组合的室内行人定位

doi:10.16180/j.cnki.issn1007-7820.2022.08.007

摘要/Abstract

摘要：

针对室内复杂场景下非视距导致UWB定位系统定位精度下降以及行人航迹推算算法累积误差过大的问题,文中提出了一种基于超宽带与行人航迹推算组合的室内定位算法。首先使用行人航迹推算算法预测行人步长及航向,然后利用UWB测距信息计算行人位置,最后使用卡尔曼滤波将两种定位方法的信息进行融合。实验结果表明,文中提出的组合定位系统可以有效解决UWB非视距影响导致的误差过大问题,提高定位精度和系统的鲁棒性,整体定位误差在12 cm以下。

关键词: 室内定位, 超宽带, 非视距, 行人航迹推算, 卡尔曼滤波, 步态检测, 双边双向测距

Abstract:

In view of the problems of the UWB positioning system's positioning accuracy decline and the accumulated error of the pedestrian trajectory estimation algorithm caused by the NLOS in the complex indoor scene, a UWB/PDR integrated indoor positioning algorithm is proposed in this study. The PDR algorithm is applied to estimate the step length and heading of pedestrian. Then, the UWB’s ranging information is used to calculate the absolute position. Finally, a Kalman Filter is used to fuse measurements from the UWB and PDR. Experimental results show that the proposed combined positioning system can effectively solve the problem of excessive errors caused by UWB NLOS effects, improve positioning accuracy and system robustness, and the overall positioning error is below 12 cm.

Key words: indoor positioning, UWB, NLOS, PDR, Kalman filter, gait detection, DS-TWR

中图分类号:

TP393

郭崴,张轩雄. 基于UWB/PDR组合的室内行人定位[J]. 电子科技, 2022, 35(8): 41-46.

GUO Wei,ZHANG Xuanxiong. UWB/PDR Integrated Indoor Pedestrian Positioning[J]. Electronic Science and Technology, 2022, 35(8): 41-46.

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方法	最大误差	平均误差	最小误差
PDR	3.024	2.702	0.083
UWB	1.879	0.150	0.051
KF	0.394	0.127	0.053