Research On Indoor Positioning Technology Based On UWB And IMU

With the rapid development of wireless communication technology,the demand of indoor positioning is increasing day by day.Among various indoor positioning technologies,the positioning technology based on ultra-wide Band(UWB)and Inertial Measurement Unit(IMU)have been gradually developed and applied in the field of indoor positioning.UWB positioning technology has been focused on by the positioning accuracy is higher,but due to non line-of-sight error and multipath effect problems such as easily disturbed,and innovative marketing positioning technology does not need external input,less susceptible to interference,but also because of its own characteristics,which results in the long position will be accumulated error,pseudo gait is difficult to effectively eliminate and so on.Because of its limitations,the single indoor positioning technology is difficult to meet the requirements in stability,accuracy and tracking performance.To solve these problems,this paper proposes an indoor positioning technology method based on UWB and IMU,which combines the advantages of the two positioning technologies to improve the positioning accuracy and tracking performance of the indoor positioning system for pedestrians.The main research contents of this paper include the following parts:(1)Based on the pedestrian dead reckoning algorithm,an improved adaptive gait detection algorithm was proposed.The acceleration threshold judgment method and state matching method were added to the traditional peak detection algorithm,and the pseudogait was filtered by using the speed change rule and the minimum time interval of pedestrian adjacent gaits during the starting process.Through designing experiments and analyzing experimental data,appropriate parameters were configured to improve the accuracy of gait detection.Compared with the traditional peak detection method,the accuracy of gait recognition was increased by 7.9%.(2)A UWB/IMU combined indoor positioning method based on extended Kalman filter algorithm is proposed.A tight combination joint positioning method is used to fuse the UWB ranging results with the acceleration and velocity information measured by the IMU,and the final positioning results are corrected and output by mutual assistance.The experimental platform is built,the hardware and software parts of the system are planned and designed,and the comparison experiment with the single system positioning is carried out under various circumstances.Compared with the UWB and IMU positioning systems,the positioning performance is improved by 17.4% and 52.1%The experimental results show that the UWB/IMU combined indoor positioning method proposed in this paper can still ensure the stability of system operation and has good positioning accuracy compared with the single system in complex environment.Figure [21] Table [5] Reference [62]...