基于INS/UWB紧组合的行人室内定位方法

doi:10.12305/j.issn.1001-506X.2025.04.26

Abstract

Abstract:

In view of the problem of poor pedestrian positioning accuracy in the indoor complex application scene, the inertial navigation system/ultra-wide band (INS/UWB) tight integrated positioning algorithm is proposed. Taking one gait cycle of foot motion as a basic search unit and by analyzing pedestrian's foot motion, z-axis angular velocity information is used to detect zero-speed state under composite motions of pedestrians accurately, so as to further suppress inertial solution accumulative error with zero velocity update (ZUPT). Meanwhile, considering the impact of non-line-of-sight (NLOS) on UWB ranging accuracy, an NLOS error model is established using a backpropagation neural network adaptive learning method to compensate for UWB ranging errors. The experimental results show that the INS/UWB tight integration algorithm proposed in indoor complex application scene has a positioning error of 0.19 m, which is 84.6% higher than the INS/UWB tight integration positioning method without ZUPT and NLOS error compensation.

Key words: pedestrian indoor positioning, ultra-wide band (UWB), tight integration, zero velocity update (ZUPT), non-line-of-sight (NLOS) error

CLC Number:

TH89

Yueyang BEN, Yuan HUANG, Hongdian HUANG, Qian LI. Pedestrian indoor positioning method based on INS/UWB tight integration[J]. Systems Engineering and Electronics, 2025, 47(4): 1300-1310.

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检测器	零速数量/帧	终点误差/m
无	0	23.970
三阈值法	438	7.863
零速检测法	589	9.642
自适应零速区间搜索算法	657	4.851

检测器	零速数量/帧	终点误差/m
无	0	48 575
三阈值法	9 936	270.412
零速检测法	6 892	192.108
自适应零速区间搜索算法	14 860	100.606

检测器	相同零速数量/帧	匹配度/%
三阈值法	400	91.324
零速检测法	559	94.907

检测器	相同零速数量/帧	匹配度/%
三阈值法	9 936	90.58
零速检测法	6 892	94.31

样本	点位测量数据			BPNN预测
样本	真实距离/m	测量距离/m	更正前绝对误差/m	更正后测量距离/m	更正后绝对误差/m
A1	4.30	4.53	0.23	4.29	0.01
A2	5.30	5.52	0.22	5.28	0.02
A3	4.89	5.21	0.32	4.90	0.01
A4	3.50	3.68	0.18	3.53	0.03
A5	2.03	2.39	0.36	2.01	0.02
A6	2.11	2.50	0.39	2.12	0.01
A7	1.92	2.10	0.18	1.94	0.02
A8	4.05	4.28	0.23	4.08	0.03
A9	3.46	3.70	0.26	3.47	0.01
A10	2.59	2.86	0.27	2.62	0.03

Pedestrian indoor positioning method based on INS/UWB tight integration

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定位算法	运行时间/s
行人航位推算	0.779
基于ZUPT的行人航位推算	0.978
ZUPT和NLOS误差补偿后的EKF	6.115

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