Research On Individual Soldier Cooperative Positioning Fusion Algorithm Based On UWB/MARG

With the advancement of social intelligence,our army's informationized operations have also advanced in an orderly and unstable manner.High-precision,robust,and unintegrated individual positioning systems are highly desirable for military,security and emergency personnel.When the traditional individual soldier combat unit carries GPS positioning,it is vulnerable to signal occlusion and multipath interference and the MARG autonomous navigation positioning error accumulates with time,making it difficult for the individual soldier combat unit to be effectively positioned,so that the position information between the companions can't be accurately obtained,it is difficult to form an overall operation force.Considering that the soldiers are acting in groups during the combat process,the method of using the group units to interact with each other to achieve high-precision positioning of each unit is proposed.This concept is caled “Cooperative Positioning”.In the process of individual soldier cooperative positioning,this thesis first analyzes the research status of individual soldier navigation and positioning system,shoe type MARG and UWB and individual soldier cooperative positioning algorithm.Then the individual soldier collaborative positioning system has carried on the system demand analysis and overall scheme design,as well as for shoes MARG sensor system for MEMS triaxial MEMS accelerometer and three-axis gyroscope error modeling and compensation of three-axis magnetic sensor for MEMS interference magnetic field put forward a kind of e llipsoid fitting parameter estimation algorithm based on annealing algorithm,using the estimated parameters and least-square method for MEMS interference magnetic field of magnetic sensor error compensation,compensation after heading Angle error within 1 °.Secondly,the attitude,velocity and position information update equations of the footwear MARG are deduced in detail.Then,the gyroscope information rms threshold algorithm is used to detect the zero-speed interval and the UWB ranging principle and the ranging error source analysis are described.Then the UWB/MARG-based individual soldier EKF algorithm is proposed,the system equations and measurement equations are established.The UWB/MARG individual soldier EKF zero-speed update algorithm is designed.Further,the shoe type MARG system power module,the analog board module including the main sensor,the storage module circuit design and the UWB ranging system chip selection and hardware design and integration.Finally,the simulation experiments and semi-physical tests were carried out on the two individual soldier combat units.The simulation experiment simulated two straight-line walking trajectories.The experiment shows that the positioning error of the two individual soldier l units is 1.08% and 0.87% of the total distance,the algorithm has higher resolution accuracy;the rectangular experiment shows that the co-location can overcome the influence of heading angle,the final end position error is 4.44 m and 2.96m;then the data is analyzed by semi-physical test and the comparison is obtained.The UWB/MARG individual soldier co-location fusion algorithm is more efficient than the individual soldier MARG system autonomous positioning solution,and its error is reduced by an order of magnitude,so the position error mean accuracy is kept within 3m.The algorithm has certain reference value for the coordinated positioning of individual teams in extreme environments such as anti-terrorism operations and disaster relief.