Integrated Navigation Fusion Strategy of INSUWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking
Joint Authors
Fan, Qigao
Wu, Yaheng
Hui, Jing
Wu, Lei
Yu, Zhenzhong
Zhou, Lijuan
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-07-08
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
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.
American Psychological Association (APA)
Fan, Qigao& Wu, Yaheng& Hui, Jing& Wu, Lei& Yu, Zhenzhong& Zhou, Lijuan. 2014. Integrated Navigation Fusion Strategy of INSUWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1048767
Modern Language Association (MLA)
Fan, Qigao…[et al.]. Integrated Navigation Fusion Strategy of INSUWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking. The Scientific World Journal No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-1048767
American Medical Association (AMA)
Fan, Qigao& Wu, Yaheng& Hui, Jing& Wu, Lei& Yu, Zhenzhong& Zhou, Lijuan. Integrated Navigation Fusion Strategy of INSUWB for Indoor Carrier Attitude Angle and Position Synchronous Tracking. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1048767
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1048767