Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking
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. A...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/215303 |
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| _version_ | 1832548510493310976 |
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| author | Qigao Fan Yaheng Wu Jing Hui Lei Wu Zhenzhong Yu Lijuan Zhou |
| author_facet | Qigao Fan Yaheng Wu Jing Hui Lei Wu Zhenzhong Yu Lijuan Zhou |
| author_sort | Qigao Fan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-f7f6d8d444ab42b1923e064c08c283c5 |
| institution | Kabale University |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-f7f6d8d444ab42b1923e064c08c283c52025-02-03T06:13:58ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/215303215303Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous TrackingQigao Fan0Yaheng Wu1Jing Hui2Lei Wu3Zhenzhong Yu4Lijuan Zhou5Key Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, ChinaKey Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, ChinaKey Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, ChinaKey Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, ChinaKey Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi 214122, ChinaAvlc Radar and Avionics Institute, Wuxi 214122, ChinaIn 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.http://dx.doi.org/10.1155/2014/215303 |
| spellingShingle | Qigao Fan Yaheng Wu Jing Hui Lei Wu Zhenzhong Yu Lijuan Zhou Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking The Scientific World Journal |
| title | Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking |
| title_full | Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking |
| title_fullStr | Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking |
| title_full_unstemmed | Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking |
| title_short | Integrated Navigation Fusion Strategy of INS/UWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking |
| title_sort | integrated navigation fusion strategy of ins uwb for indoor carrier attitude angle and position synchronous tracking |
| url | http://dx.doi.org/10.1155/2014/215303 |
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