基于融合算法的GPS/UWB/MARG协同定位系统研究Research on GPS/UWB/MARG cooperative positioning system based on fusion algorithm
周群,沈重,张鲲,陈小斯,郑理强
摘要(Abstract)：
为了弥补在不同场景下切换时目标丢失的盲区,提出GPS/UWB/MARG的协同定位系统,实现城区建筑间混合场景下的无缝定位。在混合场景下采用一种加权融合算法实现GPS和UWB协同定位,MARG用以辅助提高GPS定位精度,先对单一子系统进行数据优化和性能分析后,以加权融合的方式处理GPS/MARG数据和UWB数据,自主判断在不同定位环境下的数据输出的最优定位信息。结果表明,协同定位系统在混合场景下平均定位精度相比于GPS/MARG系统提高了64%,定位精度更高同时拓展了单一定位系统的应用场景。
关键词(KeyWords)： 全球定位系统;超宽带;组合定位;加权融合;圆概率误差;Kalman滤波
基金项目(Foundation): 国家自然科学基金资助项目(61461017);; 海南省重点研发计划项目(ZDYF2016002);; 海南省自然科学基金创新团队项目(2017CXTD0004);; 海南省研究生创新研究项目(Hyb2017-07)~~
作者(Author): 周群,沈重,张鲲,陈小斯,郑理强
DOI: 10.16652/j.issn.1004-373x.2018.06.020
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