针对单一定位技术难以实现室内外全场景定位的问题,设计了一种用于行人的联合超宽带(UWB)、惯性单元和实时动态载波相位差分技术(RTK)的定位系统。室外定位采用RTK定位,并结合惯性导航的行人航位推算(PDR)实现卫星信号遮挡区域定位。室内定位采用超宽带双边双向测距技术,并结合PDR实现非视距区域定位。室内外过渡区域定位则利用结合波峰检测法与非线性步长估计优化后的PDR定位,以提高其精确性和可靠性。测试结果表明,所提方法有效减小了信号遮拦、非视距情况下的定位误差,实现了室内外区域定位平稳过渡,整体平均定位误差在0.137 m左右。
Abstract
Aiming at the problem that single positioning technology is difficult to achieve indoor and outdoor full-scene positioning,a pedestrian positioning system that integrated ultra wide band(UWB),inertial unit and real time kinematic(RTK) carrier phase differential technology is designed.In outdoor positioning,the RTK and the pedestrian dead reckoning (PDR) are adopted to achieve the transitional positioning across the satellite signal blocked area.In indoor positioning,the UWB asymmetric double-sided two-way ranging with the PDR is adopted to achieve the interim positioning in non-line-of-sight area.The indoor-outdoor transitional area is dependent on the PDR with the combination of the wave detection method and the nonlinear step estimation to improve the accuracy and reliability of the positioning.The test results show that the proposed method could effectively reduce the positioning error in the signal blocked and non-line-of-sight areas,and achieve a smooth transition between the indoor and outdoor positioning.The average positioning error can be reduced to 0.137 meters.
关键词
室内外定位 /
非视距 /
误差修正 /
超宽带定位 /
行人航位推算 /
载波相位差分定位
Key words
indoor and outdoor positioning /
non-line-of-sight /
error correction /
ultra wide band positioning /
pedestrian dead reckoning /
carrier phase differential positioning
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基金
*国家自然科学基金资助项目(NO.52175460, NO.61405051);浙江省公益性技术应用研究计划基金资助项目(NO.2017C31067);浙江省自然科学基金项目(NO.LY17F050012)。
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