Research on Group Location Technology of Indoor Dual‐ Source Combination

Aiming at the situation that the positioning accuracy is affected by the single‐hand interference of complex environment from UWB ranging results in non‐visual‐range environment, the indoor UWB/IMU collaborative positioning based on particle filtering algorithm is proposed. The distance between the locator and each reference base station is obtained through UWB, and the east and north positions of the locator are calculated by the UWB position solving unit. The three‐axis acceleration, three‐axis angular velocity, and three‐axis magnetic field intensity during walking are obtained by IMU, and the step length, eastward step speed, northward step speed, walking time and attitude Angle are calculated by IMU calculation unit. The results of UWB system and IMU system are fused by particle filter algorithm. Finally, it can reduce the influence of complex environment and improve the positioning accuracy.

關鍵字

Indoor navigation ； Dual‐source positioning ； Cooperative navigation ； Particle filtering

參考文獻

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國際替代計量

Research on Group Location Technology of Indoor Dual‐ Source Combination

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