摘要
针对单兵作战系统易受室外GPS(Global Positioning System)信号遮挡失锁难以定位与INS自主定位容易发散的问题,提出一种基于单兵之间相互测距信息的EKF(Extended Kalman Filter)班组协同定位算法.利用角速度均方根阈值判别法进行单兵零速修正,UWB(Ultra Wideband)进行相互测距的同时传输协作单元位置估计和协方差信息,通过构造距离量测方程在零速区间协同定位.实测试验对比单兵INS定位算法与基于相互测距信息的EKF班组协同定位算法,试验结果表明:基于UWB/INS的单兵班组协同定位算法明显优于单兵INS算法自主定位,其位置误差减小了一个数量级,有效抑制了单兵INS定位误差累积.该算法可以在我军反恐作战、抢险救灾等极端环境下单兵班组协同定位中使用.
Aiming at the problem that the individual combat system was easy to lose lock because GPS signal was shaded outdoor and INS autonomous positioning was easy to diverge,an EKF team cooperative positioning algorithm based on ranging information between individual soldiers was proposed.Root mean square threshold test of angular velocity was used to perform single soldier zero speed correction.when performing mutual ranging,UWB transmits the cooperative unit position estimation and covariance information,through constructing the distance measurement equation,single soldier cooperatively located in the zero-speed interval.The measured results were compared with the individual INS positioning algorithm and the EKF team cooperative positioning algorithm based on mutual ranging information.The experimental results show that single team cooperative positioning algorithm is obviously better than the individual INS algorithm,the error is reduced by an order of magnitude,effectively suppressing the accumulation of individual INS positioning errors.The algorithm can be used in the cooperative positioning of individual teams in extreme environments,which conclude fight against terrorism and rescue and relief work.
作者
晁正正
马喜宏
李小燕
吕辰
朱孟龙
CHAO Zhengzheng;MA Xihong;LI Xiaoyan;LV Chen;ZHU Menglong(Science and Technology on Electronic Test&Measurement Laboratory,North University of China,Taiyuan 030051,China)
出处
《测试技术学报》
2019年第5期406-411,共6页
Journal of Test and Measurement Technology
基金
国家自然科学基金资助项目(51375463)
关键词
单兵协同导航
UWB测距
零速检测
EKF算法
轨迹修正
individual soldier cooperative navigation
UWB ranging
zero speed detection
EKF algorithm
trajectory correction
