全球定位系统2024，Vol.49Issue(6)：55-65,11.DOI:10.12265/j.gnss.2024085
UWB/MEMS IMU紧组合自适应抗差卡尔曼滤波定位算法研究
Research on UWB/MEMS IMU tight combination adaptive robust Kalman filtering localization algorithm
摘要
Abstract
In the ultra wide band(UWB)and micro electro mechanical system(MEMS)inertial measurement unit(IMU)tight-combination filtering system,the existence of large non line of sight(NLOS)errors in the UWB ranging signals and the anomalies in the filtering system are prone to cause serious discrepancies in the probability distributions of the noise parameter and the real noise,which leads to dispersion or even collapse of the entire filtering system,and seriously affects the performance of the tightly-combined system.The UWB/MEMS IMU tight combination adaptive robust extended Kalman filter(AREKF)method is proposed to give full play to the short-time high-precision characteristics of the INS to detect anomalies in the UWB observations,and utilize the innovation sequences to adaptively adjust the covariance matrices of the observation noise and the prediction state error,to reduce the impact of the anomalous observation or NLOS error,and effectively prevent the filter from over-convergence,dispersion,and collapse phenomena.Dynamic pedestrian experimental results show that the UWB/MEMS IMU tight combination AREKF method has RMS better than 0.3 m in the N and E directions and 1.3 m in the U direction,which effectively improves the accuracy,stability and reliability of the positioning system compared with the UWB WLS,the UWB EKF,the UWB/MEMS IMU loose combination EKF and the UWB/MEMS IMU tight combination EKF.关键词
室内定位/自适应扩展卡尔曼滤波(AREKF)/超宽带(UWB)/惯性测量单元(IMU)/非视距(NLOS)误差/紧组合Key words
indoor positioning/AREKF/UWB/IMU/NLOS error/tight combination分类
天文与地球科学引用本文复制引用
王生亮,肖恭伟,高铭,张宝成,张督..UWB/MEMS IMU紧组合自适应抗差卡尔曼滤波定位算法研究[J].全球定位系统,2024,49(6):55-65,11.基金项目
国家重点研发计划(2022YFC2204601) （2022YFC2204601）
中国国家铁路集团有限公司科技研究开发计划项目(N2023X003) （N2023X003）
太原科技大学博士科研启动基金资助(20232112 （）
20242027) （）
山西省基础研究计划(自由探索类)青年项目(202203021212284) （自由探索类）
山西省高等学校科技创新项目(2024L225) （2024L225）
卫星导航系统与装备技术国家重点实验室开放基金(CEPNT2022B07) （CEPNT2022B07）
大地测量与地球动力学国家重点实验室开放基金(SKLGED2024-3-2) （SKLGED2024-3-2）
湖北省技术创新计划项目(2024BAB027)和陕西省自然科学基础研究计划(青年项目)(2023-JC-QN-0278) （2024BAB027）
