GNSS World of China

Volume 47 Issue 5
Nov.  2022
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ZHOU Zhennan, ZOU Jingui, ZHAO Yinzhi, HU Hong, CAI Lixian, ZHOU Tao. GNSS/UWB based indoor and outdoor continuous positioning method[J]. GNSS World of China, 2022, 47(5): 28-34. doi: 10.12265/j.gnss.2022087
Citation: ZHOU Zhennan, ZOU Jingui, ZHAO Yinzhi, HU Hong, CAI Lixian, ZHOU Tao. GNSS/UWB based indoor and outdoor continuous positioning method[J]. GNSS World of China, 2022, 47(5): 28-34. doi: 10.12265/j.gnss.2022087
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GNSS/UWB based indoor and outdoor continuous positioning method

doi: 10.12265/j.gnss.2022087
  • 1.

    School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China

  • 2.

    Key Laboratory of Geospace Environment and Geodesy, Ministry of Education, Wuhan University, Wuhan 430079, China

  • 3.

    School of Resources and Environmental Engineering, Anhui University, Hefei 230601, China

  • 4.

    Guangzhou Urban Planning & Design Survey Research Institute, Guangzhou 510060, China

  • Received Date: 2022-05-16
  • Accepted Date: 2022-07-29
    • Available Online: 2022-09-27
    Abstract
  • To address the problems that Global Navigation Satellite System (GNSS) and ultra-wideband (UWB) positioning systems have limited range in complex indoor and outdoor environments, and that no single source can obtain continuous and reliable positioning results from outdoor to indoor. In this paper, we investigate the BeiDou Navigation Satellite System (BDS)+GPS/UWB loose combination positioning method, design dynamic indoor and outdoor positioning experiments and static positioning experiments in the transition area, use the extended Kalman filter to optimally estimate the positioning error state, and analyze and evaluate three positioning modes: BDS+GPS combination, UWB and loose combination. The experimental results show that the combination of BDS+GPS/UWB improves the positioning accuracy and extends the range of GNSS-real-time kinematic (GNSS-RTK) in the indoor-outdoor transition area, and the combination of BDS+GPS/UWB improves the continuity and usability of the system from outdoor to indoor positioning compared with each single source.

     

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