现代电子技术2018，Vol.41Issue(6)：82-86,5.DOI:10.16652/j.issn.1004-373x.2018.06.020
基于融合算法的GPS/UWB/MARG协同定位系统研究
Research on GPS/UWB/MARG cooperative positioning system based on fusion algorithm
摘要
Abstract
To make up the blind zone in which target loses while switching between different scenarios,a cooperative posi-tioning system based on GPS/UWB/MARG is proposed to realize seamless positioning between urban buildings in hybrid scene. A weighted fusion algorithm is adopted in hybrid scene to achieve cooperative positioning of GPS and UWB. MARG is used to auxiliarily improve GPS positioning accuracy. After data optimization and performance analysis for the single subsystem,GPS/MARG data and UWB data are processed in the mode of weighted fusion. The optimal positioning information of output data in different positioning environments is autonomously determined. The results show that the average positioning accuracy of coopera-tive positioning system in hybrid scene is increased by 64% in comparison with that of GPS/MARG system,and meanwhile the application scenarios of single positioning system are expanded.关键词
全球定位系统/超宽带/组合定位/加权融合/圆概率误差/Kalman滤波Key words
GPS/ultra-wideband/combination positioning/weighted fusion/circular probability error/Kalman filtering分类
信息技术与安全科学引用本文复制引用
周群,沈重,张鲲,陈小斯,郑理强..基于融合算法的GPS/UWB/MARG协同定位系统研究[J].现代电子技术,2018,41(6):82-86,5.基金项目
国家自然科学基金资助项目(61461017) （61461017）
海南省重点研发计划项目(ZDYF2016002) （ZDYF2016002）
海南省自然科学基金创新团队项目(2017CXTD0004) （2017CXTD0004）
海南省研究生创新研究项目(Hyb2017-07) Project Supported by National Natural Science Foundation of China(61461017),Hainan Key Research and Development Plan Project(ZDYF2016002), Hainan Provincial Natural Science Foundation Innovation Team Project(2017CXTD0004), Hainan Graduate Student Innovative Scientific Research Project(Hyb2017-07) （Hyb2017-07）
