An Approach to Improve the Positioning Performance of GPS/INS/UWB Integrated System with Two-Step Filter

作者：Li, Zengke; Wang, Ren^*; Gao, Jingxiang; Wang, Jian

来源：Remote Sensing, 2018, 10(1): 19.

DOI：10.3390/rs10010019

• ultra-wideband
• GPS
• INS
• UWB integrated system
• error correction
• two-step filter

The integration of Inertial Navigation System (INS) and Global Positioning System (GPS) single-point-positioning (SPP) mode cannot meet the requirements of high-accuracy navigation. Range observation through ultra-wideband (UWB) is an effective means to enhance the reliability and accuracy of GPS/INS integrated navigation, particularly in environments where GPS availability is poor. Because it is difficult for UWB signal to achieve large-scale intervention coverage, an enhanced GPS/INS/UWB integrated scheme with positioning error correction is proposed to improve the position accuracy in the UWB signal outage scenario. The position difference between the GPS/INS integrated solution and the GPS/INS/UWB integrated solution is predicated as the error correction for GPS/INS/UWB integrated navigation in a UWB signal challenging environment. Position correction information in the north and east directions is input to the two-step filter to decrease the error of GPS/INS integrated navigation in single-point-positioning. In order to validate the proposed method, a real experiment is conducted. The results indicate that the enhanced GPS/INS/UWB integrated scheme with positioning error correction is able to improve the position accuracy of GPS/INS/UWB integrated navigation when UWB signal is unavailable.

• 出版日期2018-1
• 单位中国矿业大学（北京）