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Indoor Firefighter Positioning and NLOS Detection Algorithm Based on UWB and INSChinese Full Text

YANG Gang;ZHU Shiling;LI Qiang;ZHAO Kesong;School of Communication and Information Engineering,Xi’an University of Posts and Telecommunications;

Abstract: Accurate indoor positioning of firefighters can be implemented by using Ultra-Wideband(UWB) and Inertial Navigation System(INS),but Non-Line-of-Sight(NLOS) error detection and mitigation of UWB remain a problem. To this end,a two-stage Extended Kalman Filter(EKF) framework is designed to achieve UWB/INS data fusion in a loosely coupled manner.The estimated coordinates of the initial position are obtained by INS,and then used to detect the NLOS error of the UWB measurement value.Based on the detection result,the residual matrix is calculated to adjust the measurement noise matrix of the fusion filter dynamically,so the NLOS error can be alleviated. The proposed algorithm is tested and compared with the detection algorithm based on the triangle inequality theorem and the UWB/INS without NLOS detection. Results show that the proposed NLOS detection algorithm exhibits excellent detection performance and stability,and the fusion of UWB/INS can effectively improve the positioning accuracy.
  • DOI:

    10.19678/j.issn.1000-3428.0059311

  • Series:

    (I) Electronic Technology & Information Science; (C) Architecture/ Energy/ Traffic/ Electromechanics, etc

  • Subject:

    Architecture and Engineering; Telecom Technology

  • Classification Code:

    TN925;TN96;TU998.1

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