Investigation of UWB RF signal technology for solving indoor positioning problem

2021 ◽  
Author(s):  
A.R. Novichkov ◽  
I.K. Goncharov ◽  
A.Yu. Egorushkin ◽  
N.N. Faschevsky
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Radio Signal ◽  
Inertial Navigation ◽  
Ultra Wideband ◽  
Propagation Time ◽  
Navigation Solution ◽  
Radio Navigation ◽  
Local Positioning System ◽  
Radio Navigation System

The article considers the process of developing a local positioning system using an ultra-wideband radio signal system and its integration with a strapdown inertial navigation system (SINS). A system based on Ultra-Wide Band (UWB) technology is used as a radio navigation system. An overview of the developed experimental integrated navigation system model is presented. Algorithms for calculating the position using the propagation time of the radio signal are used to obtain a navigation solution. An analysis of the accuracy of Single-Sided Two-Way Ranging and Double-Sided Two-Way Ranging algorithms using a UWB radio module is presented. The modeling errors of the inertial navigation system were performed. The maximum permissible parameters of the sensitive element errors were obtained for integration with the radio navigation system. The scheme of integration of the navigation solution of the UWB and SINS systems is determined.

Real-time accurate pedestrian tracking using extended finite impulse response filter bank for tightly coupling recent inertial navigation system and ultra-wideband measurements

2018 ◽  
Vol 232 (4) ◽  
pp. 464-472 ◽  
Author(s):  
Yuan Xu ◽  
Hamid Reza Karimi ◽  
Yueyang Li ◽  
Fengyu Zhou ◽  
Lili Bu
Keyword(s):  
Impulse Response ◽  
Navigation System ◽  
Filter Bank ◽  
Inertial Navigation System ◽  
Finite Impulse Response ◽  
Inertial Navigation ◽  
Finite Impulse Response Filter ◽  
Ultra Wideband ◽  
Pedestrian Tracking ◽  
Impulse Response Filter

To satisfy the increasing demands of the accuracy for the human localization, in this work, we propose a pedestrian tracking method by tightly coupling recent inertial navigation system–based and ultra-wideband–based measurements. In this mode, the difference between the distances derived from the inertial navigation system–based and ultra-wideband–based system is used as the observation of the data fusion filter. Moreover, in order to improve the performance of the extended finite impulse response filter, which depends on the averaging horizon ([Formula: see text]) when the error state vector ([Formula: see text]) is determined due to the model, the extended finite impulse response filter bank is employed to be the fusion center for pedestrian tracking, which used the Mahalanobis distance to find the optimal [Formula: see text] at each time index [Formula: see text]. Test experiments illustrate that the extended finite impulse response filter bank–based tightly coupled inertial navigation system/ultra-wideband–integrated method is able to achieve real-time estimation, and its accuracy is similar to the extended finite impulse response with the ideal [Formula: see text] which is calculated off-line.

GNSS/IMU integration algorithm experimental evaluation

2021 ◽  
pp. 52-64
Author(s):  
I.A. Nagin ◽  
A.Yu. Shatilov ◽  
T.A. Muhamedzyanov ◽  
Yu.M. Inchagov
Keyword(s):  
Navigation System ◽  
Experimental Evaluation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Satellite Navigation ◽  
Integration Algorithm ◽  
Satellite Navigation System ◽  
Navigation Solution ◽  
Inertial Measuring Unit ◽  
Measuring Unit

To improve the reliability and accuracy of navigation solution, the integration of the satellite navigation receiver with the inertial navigation system is used. These systems have complementary characteristics. An important part of the combined systems is the integration algorithm, which largely determines the final characteristics. The synthesis of such an algorithm for velocity, attitude and the errors of the inertial measuring unit estimation has been carried out. The algorithm is implemented in the software of the prototype of the inertial-satellite navigation system. The results of the experimental evaluation of algorithm’s characteristics for automotive dynamics are shown.

A SQUID Magnetometer-Based Readout System for an Inertial Navigation System

2020 ◽  
Vol 75 (4) ◽  
pp. 336-341
Author(s):  
A. V. Rzhevskiy ◽  
O. V. Snigirev ◽  
Yu. V. Maslennikov ◽  
V. Yu. Slobodchikov
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Squid Magnetometer ◽  
Readout System
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