【作者】 李金昆； 修春娣； 杨东凯；

【Author】 LI Jinkun;XIU Chundi;YANG Dongkai;School of Electronic Information Engineering,Beihang University;

【机构】 北京航空航天大学电子信息工程学院；

【摘要】 针对地下空间人员定位需求,提出基于UWB/PDR/地磁的多源融合定位方法。利用PDR定位结果对地磁匹配区域进行约束,并提出了基于区域约束的改进粒子滤波算法,改善了播撒粒子固有的盲目性问题,提高了定位精度和算法效率。采用抗差卡尔曼滤波算法对PDR/地磁定位结果与UWB定位结果进行融合,有效克服了UWB部分区域信号遮挡导致的定位跳点严重问题。仿真结果表明,基于改进粒子滤波的PDR/地磁组合定位算法平均定位误差降低到1.8 m,基于抗差卡尔曼滤波的UWB/PDR/地磁融合定位算法平均定位误差降至1.42 m,且85%的定位点精度低于2 m。更多还原

【Abstract】 A multi-source fusion location method based on UWB/PDR/geomagnetic is proposed to meet the needs of underground personnel location. The PDR location results are used to constrain the geomagnetic matching region, and an improved particle filtering algorithm based on the region constraint is proposed, which improves the inherent blindness of seeding particles and improves the location accuracy and algorithm efficiency. The robust Kalman filter algorithm is used to fuse the PDR/geomagnetic positioning results with UWB positioning results, which effectively overcomes the serious problem of locating hops caused by signal occlusion in some regions of UWB. The simulation results show that the average positioning error of PDR/geomagnetic combined positioning algorithm based on improved particle filter is reduced to 1.8 m, and the average positioning error of UWB/PDR/geomagnetic fusion positioning algorithm based on robust Kalman filter is reduced to 1.42 m, and the accuracy of 85% positioning points is lower than 2 m.更多还原