基于UWB/PDR组合的室内行人定位

doi:10.16180/j.cnki.issn1007-7820.2022.08.007

Abstract

Abstract:

In view of the problems of the UWB positioning system's positioning accuracy decline and the accumulated error of the pedestrian trajectory estimation algorithm caused by the NLOS in the complex indoor scene, a UWB/PDR integrated indoor positioning algorithm is proposed in this study. The PDR algorithm is applied to estimate the step length and heading of pedestrian. Then, the UWB’s ranging information is used to calculate the absolute position. Finally, a Kalman Filter is used to fuse measurements from the UWB and PDR. Experimental results show that the proposed combined positioning system can effectively solve the problem of excessive errors caused by UWB NLOS effects, improve positioning accuracy and system robustness, and the overall positioning error is below 12 cm.

Key words: indoor positioning, UWB, NLOS, PDR, Kalman filter, gait detection, DS-TWR

CLC Number:

TP393

GUO Wei,ZHANG Xuanxiong. UWB/PDR Integrated Indoor Pedestrian Positioning[J].Electronic Science and Technology, 2022, 35(8): 41-46.

Figures/Tables 8

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References 19

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方法	最大误差	平均误差	最小误差
PDR	3.024	2.702	0.083
UWB	1.879	0.150	0.051
KF	0.394	0.127	0.053

UWB/PDR Integrated Indoor Pedestrian Positioning

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