基于WPS/GPS/MIMU组合的无缝定位技术研究

Research on Seamless Positioning Technology Based on Integrated of WPS/GPS/MIMU

摘要:

低成本、低精度的微型惯性测量组合(MIMU)虽然能完全自主地输出定位信息,但是随着时间的积累,本身的误差将会变大,即只能够在短时间内保持高精度；而全球定位系统(GPS)存在着如室内环境下无法有效提供连续定位信号的缺陷；因此将GPS和惯性导航结合起来,再加入无线定位系统(WPS)达到了无缝定位的要求；文章根据不同的定位场景,设计了相应的解决方案,并采用WPS/GPS/MIMU的组合方式来实现无缝定位；最后基于各误差系数设计了轨迹发生器和卡尔曼滤波器,并对GPS不稳定时的无缝定位系统进行了数字仿真；结果表明,与传统的定位方式相比,此方法增加了定位的适用范围,达到了无缝定位的要求。

Abstract:

Although the low-cost and low-precision miniature inertial measurement unit (MIMU), fully autonomous transmission of location information, but with the accumulation of time, the error will be larger, that is only able to maintain high accuracy in a short time. There are some defects such as indoor cannot provide continuous positioning signal for the global positioning system. Therefore, the combination of GPS and inertial navigation, then add a wireless positioning system (WPS) to form a seamless navigation mode. According to the location of different scenes, designing corresponding solutions, and using WPS/GPS/MIMU combination, in order to achieve seamless positioning requirements. Finally designs a trajectory generator and a Kalman filter based on the error coefficient. When GPS is instability, the simulation for the Seamless positioning system shows that, comparing to the traditional positioning methods, this method increases the scope of positioning, achieves the seamless positioning requirements.