A multi-pedestrian cooperative navigation and positioning method based on UWB technology

摘要

Cooperative navigation which can improve the individual localization accuracy through utilizing the relative information among multiple individuals is a problem worthy of discussing. In the case of limited satellite signals, pedestrian navigation based on the micro inertial measurement unit can achieve autonomous and continuous navigation results, but during the inertial navigation calculation process, the navigation error of a single pedestrian is easy to diverge. Multi-pedestrian cooperative navigation is a navigation method that integrates and shares navigation information of multiple pedestrians. The relative distance between pedestrians can be measured by ultra-wide band technology and used to form a constraint relationship between multi-pedestrian navigation states. Then, the Kalman filter principle is used to establish a multi-pedestrian cooperative navigation system model in order to control the divergence of navigation errors, thereby improving overall navigation accuracy. The experimental results show that the overall navigation performance is effectively improved and the navigation accuracy of some pedestrians is significantly optimized when the multi-pedestrian cooperative navigation and positioning method is adopted.