The Research on Navigation Technology of Dead Reckoning Based on UWB Localization

摘要

Aiming at the problem that the accuracy and stability of indoor positioning navigation can not meet the requirements of engineering, a navigation method based on UWB positioning is designed. First of all, in view of the positioning error of UWB, the TOF algorithm is applied to measure distance, and an algorithm of inner quadrilateral positioning is proposed to improve the positioning accuracy. Secondly, In the aspect of the large deviation of navigation direction, the dead reckoning algorithm based on nine-axis module surveying angle and encoder range are designed, which effectively settle the problem of zero drift and improve the navigation precision. Finally, an integrated navigation algorithm is proposed, it combines the advantages of UWB positioning technology and dead reckoning. This method can improve the performance of positioning navigation effectively. The system can carry out indoor positioning navigation stably, rapidly and accurately through practice.