Indoor pedestrian UWB/INS tightly combined navigation system and method adopting pseudo range and position information

Abstract

The invention discloses an indoor pedestrian UWB / INS tightly combined navigation system and method adopting pseudo range and position information. The system comprises an inertial navigation device (INS), a UWB positioning label, a UWB reference node, and a data processing system. The inertial navigation device (INS) and UWB positioning label are arranged on the shoe and body of a pedestrian respectively. The UWB reference node can be arranged on any position. The inertial navigation device (INS) and UWB positioning label are connected to the data processing system. The device and method have the advantages that the position information of reference node is introduced into state variable, and at the same time, the position information of the reference node is estimated by a filter so as to overcome the shortages that a combined navigation system should obtain the position information of a reference node in advance and the positioning precision of the combined navigation system is depended on the precision of obtained position information of the reference node.

Description

technical field [0001] The invention relates to the technical field of integrated positioning in complex environments, in particular to an indoor pedestrian UWB / INS tight integrated navigation system and method using pseudorange information and position information. Background technique [0002] In recent years, Pedestrian Navigation (PN), as an emerging field of navigation technology application, is receiving more and more attention from scholars from all over the world, and has gradually become a research hotspot in this field. However, in indoor environments such as tunnels, large warehouses, and underground parking lots, factors such as weak external radio signals and strong electromagnetic interference will have a great impact on the accuracy, real-time performance, and robustness of target pedestrian navigation information acquisition. How to effectively integrate the limited information acquired in the indoor environment to eliminate the influence of the indoor comple...

AI Technical Summary

Problems solved by technology

For example, UWB devices are required to provide pedestrian navigation information, which requires that the environment where the target pedestrian is located must be able to obtain at least three reference node information, which greatly reduces the application range of the integrated navigation model. The sub-technology completes the positioning independently, but also introduces new errors, which is not conducive to the improvement of the accuracy of integrated navigation technology

In order to overcome this problem, scholars proposed to apply the tight combination model to the field of indoor pedestrian navigation. The tight combination model directly applies the original sensor data of the sub-techniques involved in the combined navigation to the final navigation information calculation, reducing the sub-techniques’ self-discipline. Solving the risk of introducing new errors improves the accuracy of integrated navigation, but it should be pointed out that the tight integrated navigation model needs to obtain the precise position information of the reference nodes participating in the combination in advance, which limits the flexibility of the navigation model

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