无线电工程2024，Vol.54Issue(1)：98-104,7.DOI:10.3969/j.issn.1003-3106.2024.01.013
基于自适应卡尔曼滤波的RFID/SINS组合导航研究
RFID/SINS Combined Navigation Research Based on Adaptive Kalman Filtering
摘要
Abstract
In indoor navigation and positioning,Radio Frequency Identification(RFID)technology has many advantages such as strong signal penetration and low cost,which can effectively replace GPS to complete indoor combined navigation.To address the problems of indoor inertial navigation error dispersion and uncertainty of noise parameters in filtering,a RFID/SINS combined navigation system based on Adaptive Kalman Filtering(AKF)is proposed,which suppresses inertial navigation error dispersion by RFID positioning system and applies AKF to correlate noise parameters with measurement output parameters to achieve real-time update.Simulations and experiments are conducted to compare the RFID/SINS combined navigation system under AKF and standard Kalman Filtering(KF).The results showed that the average positioning error of the combined navigation system under AKF is reduced by 10%,the position stability is improved by 7.4%,and the positioning error is maintained at about0.07 m.Therefore,the RFID/SINS combined navigation system based on AKF can meet the demand of indoor high-precision positioning and navigation.关键词
射频识别/捷联惯导系统/组合导航/自适应卡尔曼滤波/仿真与实验分析Key words
RFID/SINS/combination navigation/AKF/simulation and experimental analysis分类
信息技术与安全科学引用本文复制引用
张一康,陈燚涛,刘芳..基于自适应卡尔曼滤波的RFID/SINS组合导航研究[J].无线电工程,2024,54(1):98-104,7.基金项目
国家自然科学基金(51775388)National Natural Science Foundation of China(51775388) （51775388）
