【作者】 管练武； 阮金亮； 丛晓丹； 彭泽波； 高延滨；

【Author】 Lianwu Guan;Jinliang Ruan;Xiaodan Cong;Zebo Peng;Yanbin Gao;College of Intelligent Systems Science and Engineering, Harbin Engineering University;Institute of Intelligent Manufacturing, Heilongjiang Academy of Sciences;

【机构】 哈尔滨工程大学智能科学与工程学院； 黑龙江省科学院智能制造研究所；

【摘要】 2022年冬奥会的成功申办,极大促进了冰雪运动发展,室内模拟滑雪机的出现带动室内滑雪市场进入高速发展。然而,现有模拟滑雪机在使用过程中,发现了诸如运动代入感不够、无法精确跟踪滑行轨迹等不足。超宽带(Ultra-Wideband, UWB)和微惯性导航系统(Micro Inertial NavigationSystem,MINS)以其高精度定位,在室内定位中得到了广泛应用。UWB精度高,但容易受非视距(Non Line of Sight, NLOS)和多径效应的影响,且MINS系统误差会随时间累积。因此,本文提出一种新的基于UWB和MINS的融合定位方法,实现滑雪板姿态与轨迹测量。本文研究了针对低精度航姿参考系统(Attitude and Heading Reference System, AHRS)的简化版捷联式惯导更新算法和基于飞行时间(Time of Flight, TOF)的UWB三边定位算法。另外,为了减小不可交换误差的影响,采用等效旋转矢量法更新姿态。设计了一套适用于滑雪板的基于序贯算法的UWB/MINS扩展卡尔曼滤波算法(Extended KalmanFilter,EKF)。最后在模拟滑雪机上进行了滑雪实验,以验证UWB/MINS定位方式的定位精度以及鲁棒性。实验结果表明:单一UWB定位在NLOS环境下个别位置存在较大的野值,而UWB/MINS组合定位方式在UWB信号被间歇性遮挡期间仍然可以有效定位。相关研究已在多套滑雪机中开展示范应用。更多还原

【Abstract】 The successful bid for the 2022 Winter Olympics promoted the rapid development of the ice and snow sports. The emergence of the indoor simulation ski machine drives the ski and snow market into a highly developed period. However, during the usage of the conventional simulated ski machine, its shortcomings such as insufficient sports experience and inability to track the sliding trajectory accurately and so on. Fortunately, Ultra-Wideband(UWB) and Micro Inertial Navigation System(MINS) are widely used in indoor applications due to their high-precision positioning capabilities. UWB presents high accuracy in positioning, while it is easily to be disturbed by the Non Line of Sight(NLOS) and multipath effects. Meanwhile, the error of MINS would accumulate over time. Therefore, this paper proposes a multi-sensor fusion positioning method based on the UWB and MINS to implement the attitude and trajectory measurement of the snowboard. Specifically, this paper studies algorithm for low-precision Attitude and Heading Reference System(AHRS), provide the simplified version of strapdown inertial navigation update algorithm and UWB trilateral positioning algorithm based on Flight of Time(TOF). In addition, the equivalent rotation vector method is adopted for attitude updating to reduce the influence of non-exchangeable errors. Meanwhile, the UWB/MINS based Extended Kalman Filter(EKF) is designed with sequential algorithm for skis. Finally, the ski experiment was carried out on a simulated ski machine to verify the positioning accuracy and robustness of the UWB/MINS positioning system. Experimental results show that the independent UWB positioning technology has large outliers in the NLOS environment. However, the UWB/MINS integrated positioning technology could locate effectively when the UWB signal is intermittently blocked. The related research result has been applied in many simulated ski machines.更多还原