融合UWB与INS的消防员室内定位与NLOS检测算法

doi:10.19678/j.issn.1000-3428.0059311

摘要/Abstract

摘要： 融合超宽带（UWB）和惯性导航系统（INS）能够实现消防员室内精确定位。为实现UWB的非视距（NLOS）误差检测，设计一种双级EKF框架。该框架以松耦合形式实现UWB/INS的数据融合，通过INS获取的初始位置估计坐标以检测UWB测量值的NLOS误差，根据检测结果计算残差矩阵来动态调整融合滤波器的测量噪声矩阵，以达到缓解NLOS误差的目的。实验结果表明，与三角不等式原理检测算法和无NLOS检测的UWB/INS简单融合算法相比，所提NLOS检测算法具备良好的检测能力、较强的稳定性及较高的定位精度。

关键词: 超宽带, 惯性导航系统, 消防员定位, 非视距, 扩展卡尔曼滤波

Abstract: Accurate indoor positioning of firefighters can be implemented by using Ultra-Wideband(UWB) and Inertial Navigation System(INS), but Non-Line-of-Sight(NLOS) error detection and mitigation of UWB remain a problem.To this end, a two-stage Extended Kalman Filter(EKF) framework is designed to achieve UWB/INS data fusion in a loosely coupled manner.The estimated coordinates of the initial position are obtained by INS, and then used to detect the NLOS error of the UWB measurement value.Based on the detection result, the residual matrix is calculated to adjust the measurement noise matrix of the fusion filter dynamically, so the NLOS error can be alleviated.The proposed algorithm is tested and compared with the detection algorithm based on the triangle inequality theorem and the UWB/INS without NLOS detection.Results show that the proposed NLOS detection algorithm exhibits excellent detection performance and stability, and the fusion of UWB/INS can effectively improve the positioning accuracy.

Key words: Ultra-Wideband(UWB), Inertial Navigation System(INS), firefighters positioning, Non-Line-of-Sight(NLOS), extended Kalman filter

中图分类号:

TP391

杨刚, 朱士玲, 李强, 赵克松. 融合UWB与INS的消防员室内定位与NLOS检测算法[J]. 计算机工程, 2021, 47(9): 153-161.

YANG Gang, ZHU Shiling, LI Qiang, ZHAO Kesong. Indoor Firefighter Positioning and NLOS Detection Algorithm Based on UWB and INS[J]. Computer Engineering, 2021, 47(9): 153-161.

http://www.ecice06.com/CN/Y2021/V47/I9/153

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