传感技术学报2018，Vol.31Issue(3)：386-393,8.DOI:10.3969/j.issn.1004-1699.2018.03.012
惯导系统辅助CSS的室内定位方法
Indoor Positioning Method Based on Inertial Navigation System Assisted CSS Technology
摘要
Abstract
A high-precision indoor positioning method based on inertial navigation system(INS)assisted Chirp Spread Spectrum(CSS)is proposed. Firstly,an inertial measurement unit(IMU)based on MPU9250 multi-axis sensor isdesigned,using the Digital Motion Processing(DMP)database to obtain accurate and stable heading angle by quaternion calculation. Becauseof the magne tometer with MPU9250,the cumulative error of the heading angleis avoided. Then,based on the analysis of the NLOS(Non Line of Sight)positioning error of CSS,a method of selecting star based on triangular criterion is proposed,which effectively reduces the influence of NLOS errors in indoor com-plex environment. Finally,the extended Kalman filter(EKF)is used to fuse the inertial navigation system and the CSS localization,inorder to output stable and accurate localization results. Through the analysis and comparison of the experiment in 52 m×20 m underground garage,the results show that the mean error of inertial navigation and CSS separate positioning are 0.3456 m and 0.3659 m,and the mean error of the combined navigation method in this paper is 0.1581 m,and the positioning performance is higher more than 50% compared to the previous two single positioning method. The proposed method reduces the costof positioning and the complexity of the system,and im-proves the accuracy of positioning.关键词
室内定位/惯性导航/CSS/选星算法/扩展卡尔曼滤波/组合导航Key words
indoor positioning/inertial navigation/CSS/selecting-star algorithm/extended kalman filter/integrated navigation分类
信息技术与安全科学引用本文复制引用
黄金鹏,尚俊娜,岳克强,张波,李蕊江..惯导系统辅助CSS的室内定位方法[J].传感技术学报,2018,31(3):386-393,8.基金项目
国家自然科学基金项目(11603041) （11603041）
浙江省基础公益研究计划项目(LGG18F010010) （LGG18F010010）
广西精密导航技术与应用重点实验室项目(DH201714) （DH201714）
杭州电子科技大学研究生科研创新基金项目(ZX170603308034) （ZX170603308034）
