Pedestrian Navigation Method Based on UWB and SINS

Authors

Yang Yang, Beijing Information Science and Technology University Institute of Intelligence Control, Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China;
Li Qing, Beijing Information Science and Technology University Institute of Intelligence Control, Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China;

Abstract

Abstract: In view of the problem that the inertial navigation error is accumulating with time and UWB indoor is hard to continue tracking problems in complex environment, an extended Kalman filter (EKF) fusing UWB and sins pedestrian navigation is proposed.The zero speed correction algorithm is used to trigger EKF at zero speed. The sins is corrected by the velocity error measurement provided by sins and the position error measurement provided by UWB restraining error accumulation.When UWB signal is interrupted, the position of UWB output without interruption is taken as the starting position. The experiment results of SINS autonomous navigation show that UWB+SINS method complements the advantages and disadvantages of the two methods, restrains the accumulation of errors and ensures the continuity of navigation, improves the accuracy of pedestrian navigation, and the navigation error is 0.50%.

Recommended Citation

Yang, Yang and Qing, Li (2019) "Pedestrian Navigation Method Based on UWB and SINS," Journal of System Simulation: Vol. 31: Iss. 12, Article 9.
DOI: 10.16182/j.issn1004731x.joss.19-FZ0386
Available at: https://dc-china-simulation.researchcommons.org/journal/vol31/iss12/9

First Page

2636

Revised Date

2019-07-31

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.19-FZ0386

Last Page

2642

CLC

TP391.9

Recommended Citation

Yang Yang, Li Qing. Pedestrian Navigation Method Based on UWB and SINS[J]. Journal of System Simulation, 2019, 31(12): 2636-2642.

DOI

10.16182/j.issn1004731x.joss.19-FZ0386