Research on UAV UWB/IMU Tight Integrated Navigation and Positioning Algorithm
Navigation and positioning technology is the core technology for UAV to perform tasks stably. In this paper, the tight integrated navigation algorithm of Inertial Navigation System (INS) and Ultra Wide Band (UWB) is studied to meet the needs of UAV indoor navigation and positioning. Firstly, the st...
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| Format: | Article |
| Language: | zho |
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Harbin University of Science and Technology Publications
2024-12-01
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| Series: | Journal of Harbin University of Science and Technology |
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| Online Access: | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2390 |
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| _version_ | 1849416736096387072 |
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| author | HUANG Junbo LUO Zhexuan LI Junpeng JIN Tao YU Zhilong |
| author_facet | HUANG Junbo LUO Zhexuan LI Junpeng JIN Tao YU Zhilong |
| author_sort | HUANG Junbo |
| collection | DOAJ |
| description | Navigation and positioning technology is the core technology for UAV to perform tasks stably. In this paper, the tight integrated navigation algorithm of Inertial Navigation System (INS) and Ultra Wide Band (UWB) is studied to meet the needs of UAV indoor navigation and positioning. Firstly, the strapdown inertial navigation system and UWB positioning system are modeled. Then, the loose combination and tight combination of UWB and INS are designed to fuse the information of UWB and INS, restrain the drift error of INS, and reduce the impact of non line of sight environment and communication interruption on the accuracy of UWB positioning system. The state equation and observation equation of UWB/IMU loose and tight integrated navigation algorithm are designed. Finally, a simulation experiment is designed to compare the tight combination with loose combination of UWB and INS. The simulation experiment proves that the tight combination of UWB with INS has higher precision and stronger anti-interference ability than the loose combination.
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| format | Article |
| id | doaj-art-01b6d7586a7949b2bf3315ade5e897c4 |
| institution | Kabale University |
| issn | 1007-2683 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Harbin University of Science and Technology Publications |
| record_format | Article |
| series | Journal of Harbin University of Science and Technology |
| spelling | doaj-art-01b6d7586a7949b2bf3315ade5e897c42025-08-20T03:33:07ZzhoHarbin University of Science and Technology PublicationsJournal of Harbin University of Science and Technology1007-26832024-12-01290613414210.15938/j.jhust.2024.06.013Research on UAV UWB/IMU Tight Integrated Navigation and Positioning AlgorithmHUANG Junbo0LUO Zhexuan1 LI Junpeng2JIN Tao3YU Zhilong4Yunnan Power Grid Co. , Ltd. , Transmission Branch, Kunming 650000 , ChinaYunnan Power Grid Co. , Ltd. , Transmission Branch, Kunming 650000 , ChinaYunnan Power Grid Co. , Ltd. , Transmission Branch, Kunming 650000 , ChinaYunnan Power Grid Co. , Ltd. , Transmission Branch, Kunming 650000 , ChinaSchool of Automation, Harbin Uinversity of Science and Technology, Harbin 150001 ,ChinaNavigation and positioning technology is the core technology for UAV to perform tasks stably. In this paper, the tight integrated navigation algorithm of Inertial Navigation System (INS) and Ultra Wide Band (UWB) is studied to meet the needs of UAV indoor navigation and positioning. Firstly, the strapdown inertial navigation system and UWB positioning system are modeled. Then, the loose combination and tight combination of UWB and INS are designed to fuse the information of UWB and INS, restrain the drift error of INS, and reduce the impact of non line of sight environment and communication interruption on the accuracy of UWB positioning system. The state equation and observation equation of UWB/IMU loose and tight integrated navigation algorithm are designed. Finally, a simulation experiment is designed to compare the tight combination with loose combination of UWB and INS. The simulation experiment proves that the tight combination of UWB with INS has higher precision and stronger anti-interference ability than the loose combination. https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2390ultra wide bandinertial navigation systemloose combinationtight combinationkalman filtering |
| spellingShingle | HUANG Junbo LUO Zhexuan LI Junpeng JIN Tao YU Zhilong Research on UAV UWB/IMU Tight Integrated Navigation and Positioning Algorithm Journal of Harbin University of Science and Technology ultra wide band inertial navigation system loose combination tight combination kalman filtering |
| title | Research on UAV UWB/IMU Tight Integrated Navigation and Positioning Algorithm |
| title_full | Research on UAV UWB/IMU Tight Integrated Navigation and Positioning Algorithm |
| title_fullStr | Research on UAV UWB/IMU Tight Integrated Navigation and Positioning Algorithm |
| title_full_unstemmed | Research on UAV UWB/IMU Tight Integrated Navigation and Positioning Algorithm |
| title_short | Research on UAV UWB/IMU Tight Integrated Navigation and Positioning Algorithm |
| title_sort | research on uav uwb imu tight integrated navigation and positioning algorithm |
| topic | ultra wide band inertial navigation system loose combination tight combination kalman filtering |
| url | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=2390 |
| work_keys_str_mv | AT huangjunbo researchonuavuwbimutightintegratednavigationandpositioningalgorithm AT luozhexuan researchonuavuwbimutightintegratednavigationandpositioningalgorithm AT lijunpeng researchonuavuwbimutightintegratednavigationandpositioningalgorithm AT jintao researchonuavuwbimutightintegratednavigationandpositioningalgorithm AT yuzhilong researchonuavuwbimutightintegratednavigationandpositioningalgorithm |