固定区间平滑滤波增强UWBINSNHC组合算法研究.pdf

文档介绍：第 卷 第 期 测绘与空间地理信息 ，
44 1672－5867 2021 07－0046－05
Research on the Integration of UWB / INS / NHC Aided Algorithm of
Fixed Interval Smoothing Filter
MIN Yu， YANG Kai， GAO Zhouzheng
School of Land Science and Technology China University of Geosciences Beijing Beijing 100083 China
( ， ， ， )
Abstract
:In order to satisfy the requirements of indoor positioning service on high－accuracy， continuity， and reliability of positioning
solutions， a new indoor positioning method is proposed in this paper， in which mutil－sensor’ s measurements， such as Ultra－Wide
Band (UWB)， Inertial Navigation System (INS)， and Non－Holonomic Constraint (NHC)， are integrated together based on fixed in-
terval smoothing filter. In this method， the charactors of high－accuracy positioning of UWB in long term and high－accuracy， consecu-
tive positioning of INS in short term and relative term are utilized to provide users indoor positioning solutions with high－accuracy and
continuity. According to the experiment results， it can be known that (1) under