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IMU辅助的TDOA室内定位
史云飞,郝永生,刘德亮,王波
0
(陆军工程大学石家庄校区 导弹工程系,石家庄 453000)
摘要:
室内环境下,当无线信号受到多径和非视距干扰时,传统的基于到达时间差(Time Difference of Arrival,TDOA)的测距模型定位精度不满足室内定位精度要求。为此,提出利用TDOA与低成本的惯性测量单元(Inertial Measurement Unit,IMU)相结合的定位方法。在视距情况下,只有TDOA系统工作,但在信号受到干扰时,利用IMU能够在短时间内提供一个准确的相对位置信息的特性,采用TDOA算法对其进行辅助定位,并利用卡尔曼滤波器对它们的数据进行预处理,最后使用扩展卡尔曼滤波器对数据进行处理融合。实验结果表明,提出的算法比传统的TDOA定位具有更高的精度。
关键词:  室内定位  惯性测量单元  卡尔曼滤波  到达时间差
DOI:
基金项目:国家自然科学基金资助项目(61601494)
IMU-assisted TDOA indoor localization
SHI Yunfei,HAO Yongsheng,LIU Deliang,WANG Bo
(Missile Engineering Department,Army Engineering University Shijiazhuang Campus,Shijiazhuang 453000,China)
Abstract:
In the indoor environment,the wireless signal is interfered by multipath and non-line-of-sight(NLOS),the traditional time difference of arrival(TDOA) localization accuracy does not meet the indoor localization accuracy requirements.For this problem,a TDOA and low cost inertial measurement unit(IMU) combined localization method is proposed.In the case of line-of-sight,only the TDOA system works,however,when the signal is interfered,because the IMU can provide an accurate relative position information in a short time,the TDOA algorithm is used to assist its localization,and the Kalman filter(KF) is used preprocesses the data.Finally,extended KF(EKF) is used to process and fuse the data.Experimental results show that the proposed algorithm has higher accuracy than traditional TDOA localization.
Key words:  indoor localization  inertial measurement unit  Kalman filter  time difference of arrival(TDOA)
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