A Beidou + UWB + inertial Navigation Integrated Indoor and Outdoor Multi-Source Information Fusion Positioning System

Abstract

Abstract The article analyses the high-precision indoor and outdoor positioning system and its positioning method based on Beidou/UWB. And analyse the principles and characteristics of UWB technology. The article proposes a sequential filtering fusion algorithm for the ship’s integrated navigation system. The basic idea of the algorithm is to use the first-order Markov process to establish the noise model of ship motion, and use the state expansion method to transform the state equation into a basic equation that conforms to the standard Kalman filter. Theoretical research and experimental simulation prove that the filter introduced in the article is matched with the system and has high filtering performance and accuracy.