基于惯性导航与超宽带测距,文章研究了GNSS信号受干扰情况下的行人协同定位技术,采用了一种协同导航算法,其可以在行人导航解算的基础上,获得单人导航的位置信息,并在UWB测距得到的相对观测值的基础上,通过扩展卡尔曼滤波算法对各个行人的位置信息进行交互融合,最终得到目标的理想位置信息.行人导航实验表明,该方法能够提升系统定位精度,并进一步增强系统的稳定性与可靠性.
Based on inertial navigation and ultra-wideband(UWB),this paper studies the pedestrian cooperative localization technology in the case of GPS signal interference.In this paper,a cooperative navigation algorithm is used,which can obtain the position information of single person based on the calculation of pedestrian navigation,and on the basis of the relative observation value obtained by UWB ranging,the extended Kalman filter algorithm is used to interactively fuse the position information of each pedestrian,and finally the ideal position information of the target is obtained.The pedestrian navigation experiments show that this method can improve the positioning accuracy of the system,and further strengthen the stability and reliability of the system.