Improvement and Verification for Combined Positioning Algorithm Based on UWB and Inertial Navigation
- DOI
- 10.2991/meici-16.2016.169How to use a DOI?
- Keywords
- Ultra wide band (UWB); Inertial navigation system; Trusted factors; Fitting thought
- Abstract
In order to meet requirements of three-dimensional (3D) indoor positioning in the environment with multipath interference and non-line-of-sight (NLOS) errors, this paper improves setting rules of trusted factors about ultra wide band(UWB) and the inertial navigation system(INS) to the indoor positioning algorithm, realizing confidence factors' dynamic calibration. A method to restrain NLOS errors is proposed, and the fitting method is used to smooth singular points in the track. An actual system is built to verify the improved performance of this algorithm. The actual tests show that the algorithm can effectively improve the 3 dimensional positioning accuracy, positioning error can be controlled within 20cm.
- Copyright
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Hongliang Zhao AU - Shaofu Gao PY - 2016/09 DA - 2016/09 TI - Improvement and Verification for Combined Positioning Algorithm Based on UWB and Inertial Navigation BT - Proceedings of the 2016 6th International Conference on Management, Education, Information and Control (MEICI 2016) PB - Atlantis Press SP - 811 EP - 815 SN - 1951-6851 UR - https://doi.org/10.2991/meici-16.2016.169 DO - 10.2991/meici-16.2016.169 ID - Zhao2016/09 ER -