Ultra wideband augmented GPS.

摘要

UWB has several characteristics that enable accurate positioning in situations where GPS has difficulties. UWB and GPS measurements are combined using tightly-coupled integration.;Prior to integration, it is shown that UWB-only positioning results in significantly improved accuracy and precision compared to code DGPS-only positioning in poor signal environments.;Integrating multiple UWB ranges to code DGPS demonstrates that UWB can replace GPS when it suffers from a complete satellite outage indoors. Sub-metre level accuracy during this time is sufficient for indoor pedestrian navigation applications. Then, multiple UWB ranges augmented RTK float solutions are tested in several signal conditions. The worst case, with 2 satellites and 3 UWB ranges, results in centimetre-level horizontal accuracies and sub-metre precision.;Through testing UWB-GPS integration in numerous scenarios, this thesis proves that UWB is a feasible solution to augment, enhance and/or replace GPS in the benign and hostile signal environments.