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UWB/MEMS combination-based UWB base station position error compensation method

An error compensation and base station technology, which is applied in the field of UWB base station position error compensation based on UWB/MEMS combination, can solve the problems of being easily affected by the environment, difficult to measure accurately, and the accuracy of UWB base station position measurement has errors.

Active Publication Date: 2020-12-11
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to propose a UWB base station position error compensation method based on UWB / MEMS combination in view of the problems that the position measurement accuracy of UWB base stations in the existing system has errors, is easily affected by the environment, and is difficult to measure accurately

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  • UWB/MEMS combination-based UWB base station position error compensation method

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[0090] DETAILED DESCRIPTION figure 1 In particular, the present invention is the present invention as a UWB base station position error compensation method based on the UWB / MEMS combination. figure 1 As shown, including the following steps:

[0091] (1) Collect data from the UWB system and MEMS system;

[0092] (2) Select the status quantity and observations, establish a UWB / MEMS combination navigation system status space model;

[0093] (3) UWB / MEMS combination filter system initialization;

[0094] (4) time to update. The status prediction value and covariance of the K-1 time state estimation value and covariance are calculated by the K-1 hour.

[0095] (5) Sigma point selection. Select a set of weighted SIGMA points based on the status prediction value and its covariance;

[0096] (6) Measurement update. Measurement was carried out using Sigma updated after the point of measurement equation nonlinear transformation, the state estimate at time k and covariance, estimated c...

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Abstract

The invention discloses a UWB / MEMS combination-based UWB base station position error compensation method, relates to the technical field of integrated navigation, and aims to solve the problems that the UWB base station position measurement accuracy in the existing system has errors, is easily influenced by the environment and is difficult to accurately measure. The UWB base station position errorcompensation method comprises the following steps: 1, collecting data output by a UWB system and an MEMS system; 2, selecting the state quantity and the observed quantity of the system, and establishing a UWB / MEMS integrated navigation system state space model; 3, performing state estimation on the UWB / MEMS integrated navigation system state space model by using a derivative unscented Kalman filter; and 4, obtaining a position error of the UWB base station and gyroscope constant drift and accelerometer zero offset of MEMS inertial navigation according to a state estimation value output by thederivative unscented Kalman filter, feeding back the position error, the gyroscope constant drift and the accelerometer zero offset to the combined system, and outputting attitude, speed and positioninformation.

Description

Technical field [0001] The present invention relates to a navigation technology, and in particular the base station of the positional error compensating method of UWB-based UWB / MEMS combination. Background technique [0002] In modern life, the demand for positioning and navigation even more strongly. Now, GNSS (Global Navigation Satellite System, GNSS) rapid development, with the inertial navigation system (InertialNavigation System, INS) consisting of a navigation system in terms of accuracy and reliability, but also has been greatly improved. However, in the indoor environment, the GNSS signal vulnerable blocked, so that the user can not be achieved through normal navigation GNSS. At the same time, the vast majority of human activities take place in an indoor environment, high-precision indoor location service can provide a navigation route, merchandise shopping guide, resource guide and other network services to users, so as to enhance the user experience in terms of servic...

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Application Information

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IPC IPC(8): H04W4/024H04W64/00G01C21/16
CPCH04W4/024H04W64/00G01C21/165
Inventor 王伟龚佳承李欣薛冰黄平
Owner HARBIN ENG UNIV
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