Research on High-precision Indoor and Outdoor Pedestrian Positioning System Based on UWB and RTK

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Integrated Circuits and Embedded Systems ›› 2023, Vol. 23 ›› Issue (6) : 12-16.

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Research on High-precision Indoor and Outdoor Pedestrian Positioning System Based on UWB and RTK

Zhou Haibin, Yang Guowei, Wang Guoshuai, He Yuheng, Feng Zhichao

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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.

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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Zhou Haibin, Yang Guowei, Wang Guoshuai, He Yuheng, Feng Zhichao. Research on High-precision Indoor and Outdoor Pedestrian Positioning System Based on UWB and RTK[J]. Integrated Circuits and Embedded Systems. 2023, 23(6): 12-16

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