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Integrated navigation fusion strategy of INS/UWB for indoor carrier attitude angle and position synchronous tracking.

Fan Q, Wu Y, Hui J, Wu L, Yu Z, Zhou L - ScientificWorldJournal (2014)

Bottom Line: Simulation results show that the two subsystems are complementary.Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed.Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment.

View Article: PubMed Central - PubMed

Affiliation: Key Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, China.

ABSTRACT
In some GPS failure conditions, positioning for mobile target is difficult. This paper proposed a new method based on INS/UWB for attitude angle and position synchronous tracking of indoor carrier. Firstly, error model of INS/UWB integrated system is built, including error equation of INS and UWB. And combined filtering model of INS/UWB is researched. Simulation results show that the two subsystems are complementary. Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed. Simulation results show that FAKF method is better than the conventional Kalman filtering. Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment. Static and dynamic positioning results show that the INS/UWB integrated navigation system is stable and real-time, positioning precision meets the requirements of working condition and is better than any independent subsystem.

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Related in: MedlinePlus

Positioning model of the carrier based on UWB.
© Copyright Policy - open-access
Related In: Results  -  Collection


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fig9: Positioning model of the carrier based on UWB.

Mentions: Precondition of the error analysis for UWB positioning system is establishing the relationship between the arrival time TOA error and circle location line error. As shown in Figure 9, given the position line equation of UWB:(11)RA=(x−x1)2+(y−y1)2,RB=(x−x2)2+(y−y2)2,(12)RA=cToA,RB=cToB,where ToA and ToB are time differences of arrival of A(x1, y1) and B(x2, y2), respectively, mobile node of carrier P(x, y) can be got by (11).


Integrated navigation fusion strategy of INS/UWB for indoor carrier attitude angle and position synchronous tracking.

Fan Q, Wu Y, Hui J, Wu L, Yu Z, Zhou L - ScientificWorldJournal (2014)

Positioning model of the carrier based on UWB.
© Copyright Policy - open-access
Related In: Results  -  Collection

Show All Figures
getmorefigures.php?uid=PMC4121039&req=5

fig9: Positioning model of the carrier based on UWB.
Mentions: Precondition of the error analysis for UWB positioning system is establishing the relationship between the arrival time TOA error and circle location line error. As shown in Figure 9, given the position line equation of UWB:(11)RA=(x−x1)2+(y−y1)2,RB=(x−x2)2+(y−y2)2,(12)RA=cToA,RB=cToB,where ToA and ToB are time differences of arrival of A(x1, y1) and B(x2, y2), respectively, mobile node of carrier P(x, y) can be got by (11).

Bottom Line: Simulation results show that the two subsystems are complementary.Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed.Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment.

View Article: PubMed Central - PubMed

Affiliation: Key Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, China.

ABSTRACT
In some GPS failure conditions, positioning for mobile target is difficult. This paper proposed a new method based on INS/UWB for attitude angle and position synchronous tracking of indoor carrier. Firstly, error model of INS/UWB integrated system is built, including error equation of INS and UWB. And combined filtering model of INS/UWB is researched. Simulation results show that the two subsystems are complementary. Secondly, integrated navigation data fusion strategy of INS/UWB based on Kalman filtering theory is proposed. Simulation results show that FAKF method is better than the conventional Kalman filtering. Finally, an indoor experiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal mine working environment. Static and dynamic positioning results show that the INS/UWB integrated navigation system is stable and real-time, positioning precision meets the requirements of working condition and is better than any independent subsystem.

Show MeSH
Related in: MedlinePlus