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针对超宽带无线定位系统在复杂坏境中出现的定位数据丢失以及粗大误差等导致SINS/UWB组合系统定位精度下降的问题,提出了一种基于超宽带定位系统容错判断的组合定位方法。首先根据捷联惯导测量值进行基于中值滤波的运动载体静止状态检测,进而利用最小二乘法实现静止状态下捷联惯导量测偏差矫正;然后在建立SINS/UWB组合定位模型的基础上,引入决策树容错判断机制,对超宽带定位系统在复杂环境中由于信号干扰以及非视距导致的测量数据丢失以及粗大定位误差进行实时评估,进而应用卡尔曼滤波算法,实现容错组合定位系统的构建。在搭建的SINS/UWB组合定位实验平台中进行模型验证,结果表明容错组合定位系统能够有效检测出UWB定位系统出现的定位数据丢失以及粗大定位误差,并且在UWB粗大误差状态持续6 s的情况下,容错组合定位系统仍然能够保持较高的定位精度。
Aiming at the problem that the localization accuracy of SINS / UWB combination system is reduced due to the loss of positioning data and gross errors in the complex environment of UWB wireless positioning system, a combination positioning method based on fault-tolerant determination of UWB positioning system is proposed. Firstly, the static state of the vehicle based on SINS / UWB is measured based on the SINS measurements, then the least squares method is used to correct the measurement SINS / UWB positioning errors. Secondly, based on the SINS / UWB combined positioning model , Introduces decision-making fault-tolerant decision-making mechanism to evaluate the UWB positioning system in real-time in complex environment due to signal interference and non-line-of-sight measurement data loss and coarse positioning error, and then apply Kalman filter algorithm to achieve fault-tolerant combined positioning system Construct. The model validation in SINS / UWB combined positioning experiment platform shows that the fault-tolerant combined positioning system can effectively detect the positioning data loss and coarse positioning errors in the UWB positioning system. When the UWB coarse error state persists for 6 s , Fault-tolerant combination of positioning system still able to maintain a high positioning accuracy.