Circular Probability Error Based Inertial Navigation System Assists Ultra-Wide Band and Satellite Navigation System Intersection Area Fusion Positioning Algorithm

摘要

Abstract When traditional weighted fusion realizes firefighter positioning, the problem of inaccurate positioning in the intersection area is due to poor sensor positioning accuracy and the inaccurate measurement of random error. To this end, an ultra-wideband (UWB) and Beidou satellite navigation system (BDS) intersection area fusion positioning algorithm based on the circular probability error (CEP) method is proposed, Inertial Navigation System initial positioning accuracy used to detect and improve UWB positioning errors. The accuracy and real-time of CEP are used to analyze the random positioning error, which enables more accurate weighting to improve positioning accuracy. The initial position coordinates obtained by INS detect and mitigate the non-line-of-sight error of UWB, eliminate abnormal deviation data when processing data, improve the probability of the CEP method to 95% and optimize the average method for more accurate real-time analysis of UWB and BDS positioning error, then calculate the optimal weight value through the error value to achieve fusion positioning. The algorithm is compared with the traditional UWB/BDS weighted fusion algorithm, and the experimental results show that the average positioning accuracy of the proposed fusion positioning algorithm in the intersection area is improved by 47.4%.