为了实现精确的人员定位,提出了一种采用联邦EKF的分布式INS/UWB人员紧组合定位方法。在这种模式下,将数据融合滤波器应用于UWB无线通信信道中。INS与UWB分别测量得到的参考节点到未知节点之间距离的平方值被用于预估INS的导航解算误差。在此基础上,主滤波器将各信道滤波器的预估值进行数据融合,最后得到最终的INS导航解算误差预估。实验结果显示,该方法能够准确地提供人员位置信息,与集中式滤波器相比,平均位置误差降低了10.34%左右。 In order to achieve accurate personnel positioning, a distributed assembly method of INS / UWB personnel with federated EKF is proposed. In this mode, the data fusion filter is applied to the UWB wireless communication channel. The square value of the distance between the reference node and the unknown node respectively measured by the INS and the UWB is used to estimate the navigation solution error of the INS. On this basis, the main filter data fusion of the estimated channel filters, and finally get the final INS navigation error estimate. Experimental results show that the proposed method can provide accurate location information for human beings. Compared with the centralized filter, the average position error is reduced by about 10.34%.