Research on MIMU/UWB Integrated Indoor Positioning
This paper investigates and proposes a low-precision Micro Inertial Measurement Unit (MIMU)/Ultra-Wideband (UWB) integrated positioning scheme, which aims at realizing indoor high-precision and high-stability localization. A loosely-coupled MIMU/UWB integ
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Abstract This paper investigates and proposes a low-precision Micro Inertial Measurement Unit (MIMU)/Ultra-Wideband (UWB) integrated positioning scheme, which aims at realizing indoor high-precision and high-stability localization. A loosely-coupled MIMU/UWB integrated positioning system based on position measurements is designed. Considering three possible cases in practical uses—normally working, UWB signal blockage and UWB gross error occurring, we establishes the simulation platform and the experimental environment to analyze and verify the performance of the integrated system. Simulation and indoor kinematic experimental results show that the MIMU/UWB integrated positioning system produces continuous and accurate position within an error of 2 m. It is also proved to have better continuity and robustness than both independent subsystems. Keywords Indoor positioning navigation Kalman filter
Integrated navigation Ultra-Wideband Inertial
1 Introduction Indoor precise positioning technology promotes the development of new applications in both military and civil fields, such as intelligent shopping guidance, emergency handling and rapid rescue. Global Navigation Satellite Systems (GNSS) are widely applied outdoors due to their global coverage and reliable accuracy. However, GNSS often suffers from signal attenuation, multipath and blockage introduced by buildings and human motions in indoor environments.
Y. Shi A. Wang (&) J. Hao B. Jiao School of Navigation and Aerospace Engineering, Information Engineering University, Zhengzhou, China e-mail: [email protected] © Springer Nature Singapore Pte Ltd. 2017 J. Sun et al. (eds.), China Satellite Navigation Conference (CSNC) 2017 Proceedings: Volume II, Lecture Notes in Electrical Engineering 438, DOI 10.1007/978-981-10-4591-2_42
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Currently, indoor positioning is based mainly on wireless sensor network (WIFI, ZigBee, Bluetooth, etc.) for its low cost and ease of implement, but the robustness and direction information cannot be provided. Ultra-Wideband (UWB), with high anti-interference ability, excellent multipath resolving capability and low power consumption, is a new promising positioning technology especially for indoor applications. Inevitably, as a kind of radiolocation, UWB signal is also under the influence of blockage and interference. To compensate for the shortcomings of these, extra observations transmitted from other sensors are desired. Inertial Navigation System (INS) has the advantage of self-contained navigation capacity, as well as adding attitude information synchronously to the positioning system. Yet, it suffers from inherent defect that positioning accuracy decreases as the drift error [7]. By fusing INS and UWB measurements, better accuracy, continuity and stability can be obtained, which is similar to the GNSS/INS integrated navigation system [6]. With the manufacturing technology for inertial components improved, Micro Inertial Measurement Unit (MIMU) based on Micro-electromechanical System (MEMS) is w
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