Bulletin of Surveying and Mapping ›› 2024, Vol. 0 ›› Issue (11): 78-82.doi: 10.13474/j.cnki.11-2246.2024.1114

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GNSS/INS integrated navigation algorithm with UWB constraints

ZHOU Tao1, ZOU Jingui1, ZHAO Yinzhi1, ZHOU Zhennan1, WU Jingwen1, HUANG Junfeng2, MIN Hui2   

  1. 1. School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China;
    2. Surveying and Mapping Emergency Support Center, Department of Natural Resources of Hubei Province, Wuhan 430064, China
  • Received:2024-07-24 Published:2024-12-05

Abstract: In order to solve the problem of traditional integrated navigation algorithms being difficult to apply in satellite signal rejection and indoor environments,ultra wideband (UWB) positioning technology is considered to assist GNSS/INS navigation systems. We derive a combined navigation Kalman filter model with additional UWB constraints and construct a noise matrix using the prior variance of UWB distance measurement at the data processing level. To verify the effectiveness of the proposed method, we conduct a trolley experiment in the air raid shelter of Wuhan university. The experimental results show that the addition of UWB positioning information can effectively suppress the rapid divergence of velocity and position. After 50 seconds of GNSS signal interruption, the velocity drift in the E, N, and U directions is 0.236, 0.284, and 0.179 m/s,respectively, and the position drift is 5.247 m. The navigation positioning accuracy is improved by more than 80% compared to traditional algorithms.

Key words: integrated navigation, low cost, ultra wideband, Kalman filtering

CLC Number: