一种基于IMU、GPS与UWB的高精度定位算法

• Format: Patent
• Language: Chinese
• Published: 02.07.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING; WIRELESS COMMUNICATIONS NETWORKS

本发明公开了一种基于IMU、GPS与UWB的高精度定位算法，包括确定状态向量、惯导的姿态误差微分方程建模、惯导的速度误差微分方程建模、惯导的位置误差微分方程建模、传感器误差建模、惯导的系统状态误差微分方程建模、GPS速度误差观测方程建模、GPS位置误差观测方程建模、UWB位置误差观测方程建模和双分支卡尔曼循环定位；本发明属于勘测、导航、陀螺仪技术领域，具体为一种基于IMU、GPS与UWB的高精度定位算法，本发明的优点为：本发明结合IMU的高频惯导数据，使用双分支卡尔曼循环定位预测载体位置，使整个算法更加鲁棒和精确，并且本发明使用的传感器价格低廉，是一种低成本的定位方案。 The invention discloses a high-precision positioning algorithm based on IMU, GPS and UWB. Comprising the steps of state vector determination, inertial navigation attitude error differential equation modeling, inertial navigation speed error differential equation modeling, inertial navigation position error differential equation modeling, sensor error modeling, inertial navigation system state error differential equation modeling, GPS speed error observation equation modeling and GPS position error observation equation modeling. Carrying out UWB position error observation equation modeling and double-branch Kalman cycle positioning; the invention belongs to the technical field of survey, navigation and gyroscopes, and particul