【摘要】 场端定位指在一定的空间范围内，在场端设施的相互协同下，完成对终端设备的一种特殊定位，可以通过快速移动部署提供精细网格化位置服务。针对终端设备定位精度需求高的实际问题，结合某车企仓储环境下的物流车场端定位需求，开展5G蜂窝网络与惯性测量单元结合的高精度数据融合的研究。通过5G网络所产生的数据与惯性测量单元自带的加速度计与陀螺仪等信息融合进行定位，结合5G信号抗干扰能力强以及惯性测量单元成本较低的优势，使用惯性测量单元的信息将5G数据进行位置修正并在地图上展示。在5G网络覆盖的区域内实现定位且误差在0.5 m以内，波动范围稳定在0.2 m以内。更多还原

【Abstract】 Aiming at the practical problem of high demand for positioning accuracy of terminal equipment, this paper combined with the positioning demand of logistics yard under the warehousing environment of an automobile company, and carried out the research on high-precision data fusion combining 5G cellular network and inertial measurement unit. The data generated by the 5G network is integrated with the accelerometer and gyroscope and other information of the IMU module for positioning. Combined with the advantages of strong anti-interference ability of 5G signal and low cost of IMU module, the 5G data is corrected and displayed on the map using the information of IMU. The positioning is achieved in the area covered by the 5G network and the error is within 0.5 m, and the fluctuation range is stable within 0.2 m.更多还原