为了解决低成本微机电惯性导航系统存在的累积误差问题,提出一种基于融合行人航迹推算(PDR)和超宽带(UWB)无线定位的实时室内行人导航系统.利用加速度计和磁强计进行初始姿态对准;考虑滤波误差估计,推导了惯性导航算法;依靠加速度计和陀螺仪的"与"逻辑进行行人步态检测;实施零速更新(ZUPT)提供速度误差观测量,利用UWB系统提供位置误差观测量;设计具有野值辨识机制的扩展卡尔曼滤波器进行数据融合.对提出的行人导航算法进行实验验证,结果表明该行人导航算法与传统定位方法相比能够有效提高行人定位精度.实验中,该行人导航算法能够获取低于0.2 m的定位误差,且稳定、不发散.%In order to solve accumulated error problem of low cost micro-electro-mechanical inertial navigation system,a new real-time indoor pedestrian navigation system based on fusion of pedestrian dead reckoning (PDR) and ultra wideband (UWB)wireless positioning is proposed. The accelerometer and magnetometer are used to calculate the initial attitude;inertial navigation algorithm is deduced by considering the filtering error estimation;the"and"logic is used in step detection algorithm by relying on the accelerometer and gyroscope;zero velocity update(ZUPT)is carried out to provide velocity error measurements and UWB system is used to provide position error measurements for the filter;an extended Kalman filter with the outliers identification mechanism is designed for data fusion. The proposed pedestrian navigation algorithm is verified,and the proposed algorithm can effectively improve the positioning position of pedestrian compared with the traditional method. In the experiment,the pedestrian navigation algorithm can obtain the positioning error which is less than 0. 2 m. The proposed navigation system is stable and divergence problem does not exist.
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