In some GPS failure conditions, positioning for mobile target is difficult. This paper proposed a new method based on INS/UWB\nfor attitude angle and position synchronous tracking of indoor carrier. Firstly, error model of INS/UWB integrated system is built,\nincluding error equation of INS and UWB. And combined filtering model of INS/UWB is researched. Simulation results show that\nthe two subsystems are complementary. Secondly, integrated navigation data fusion strategy of INS/UWB based onKalman filtering\ntheory is proposed. Simulation results show that FAKF method is better than the conventional Kalman filtering. Finally, an indoor\nexperiment platform is established to verify the integrated navigation theory of INS/UWB, which is geared to the needs of coal\nmine working environment. Static and dynamic positioning results show that the INS/UWB integrated navigation system is stable\nand real-time, positioning precision meets the requirements of working condition and is better than any independent subsystem.
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