基于UWB和IMU融合的UWB弱信号环境下高精度定位算法OA

To solve the problems that the Global Navigation Satellite System(GNSS)has poor positioning precision in confined space and even cannot locate,and the Ultra-Wide Band(UWB)indoor positioning technology has poor positioning precision and low positioning stability in Non Line of Sight(NLoS)environment.Based on the error state Kalman filter and the fusion of UWB positioning technology and Inertial Measurement Unit(IMU),a UWB positioning algorithm model in UWB weak signal environment is designed to realize centimeter-level positioning in UWB weak signal environment.By optimizing the traditional error state Kalman filter method and fusing the measurement data of UWB and IMU,the problems of poor positioning precision and easy deviation of positioning results of traditional UWB positioning in NLoS environment are solved.The experimental results show that in the navigation laboratory,the precision of the system in the east direction,north axis and OXY plane in the East-North-Sky(ENU)coordinate system is increased by 2.87％,12.02％and 5.71％respectively,and the variance is reduced by 5.80％,18.06％and 5.71％respectively.In the underground channel UWB weak signal environment,the precision of the system in the east direction,north direction and OXY plane is improved by 12.08％,24.10％and 16.08％respectively.The variance is reduced by 8.12％,32.74％and 12.23％,respectively.The proposed algorithm model effectively improves low positioning precision and poor system positioning stability of UWB indoor positioning technology in the case of NLoS,reduces the positioning cost,and has strong practicability.