Research On AHRS-UWB Ultra-bandwidth Positioning Technology Based On Mine Personnel

Highly accurate location information plays an important role in military,security,commercial and other applications.Therefore,positioning technology is widely used in the fields of vehicle navigation,emergency rescue,health monitoring,and logistics target recognition.In the past few decades,the Global Positioning System(GPS)is the most mature outdoor positioning technology,but the GPS signal is in the microwave frequency band.When the signal reaches the ground,the intensity is weak and cannot penetrate the building.Therefore,GPS is not suitable for indoor positioning scenarios.In fact,80% of human activities are in indoor environments,and indoor positioning needs are much larger than outdoor positioning requirements.This paper describes an indoor positioning scheme,which introduces the inertial navigation and the mathematical model of UWB in detail,analyzes the advantages and disadvantages of inertial navigation(AHRS)and UWB,and imports the data collected by inertial navigation and UWB into the PC through the memory.A Matlab-based simulation model was developed and constructed to evaluate the proposed EKF performance and its algorithm for the platform motion curve.The extended Kalman filter(EKF)is used,which combines or combines the advantages of both positioning.A UWB sensor-based positioning scheme is used to calibrate or estimate the AHRS error,and the AHRS sensor positioning scheme is used to detect and isolate the damaged UWB sensor data to improve the accuracy of the overall positioning performance.This design is designed for the hardware and software of the AHRS-UWB system.The hardware includes STM32 main control chip,MPU9250,LPS22 HB,DWM1000 tag,UWB base station and corresponding peripheral circuits.The device is fixed at the tester’s ankle.When the human body is in motion,these values will change in real time,and the data will be analyzed by KEF correlation algorithm.The corresponding positioning system application software is designed by C++,and the experimental platform of AHRS-UWB is built and tested,and the corresponding trajectory of the indoor personnel is checked through the application software.The paper has 55 pictures,3 tables and 56 references.