Research On GPS/UWB/MARG Cooperative Positioning Navigation System

The positioning navigation system will be roughly divided into indoor positioning and outdoor positioning according to application scenarios.The outdoor positioning system mainiy uses the Global Navigation Satellite System(GNSS)as the main positioning technology.It has good applicability and expandability,but it is only suitable for positioning in outdoor open space scenarios.UWB indoor positioning system can provide high accuracy,but it is very sensitive to environmental changes can only be limited to the indoor environment.As a low-cost autonomous system,the MARG sensor has good data accuracy in a short period of time,and the high update frequency can well compensate for the positioning error of the GPS signal blocking gap.Combining the features and disadvantages of indoor and outdoor positioning systems,this paper proposes a GPS/MARG/UWB indoor and outdoor seamless positioning system to solve and make up for the blind areas of target loss in different environment handovers,and achieve seamless positioning navigation.The combination of the GPS positioning system and the MARG sensor improves the stability and accuracy of the outdoor positioning data.Only by further improving the positioning accuracy of the GPS,data fusion will not cause data distortion when it is coordinated with the UWB indoor positioning system with high precision.This paper uses a weighted fusion algorithm to deal with outdoor combined positioning data and UWB indoor positioning data.The co-location system solves the problem of loss of positioning information when the positioning target moves in a complex environment,and autonomously judges the data output under different positioning environments according to the weighted fusion algorithm.Through the positioning test in three different environments,the results show that GPS/MARG positioning data is stable in the outdoor environment;in the indoor environment,the UWB positioning system has higher data accuracy;in the mixed scenario,the indoor and outdoor hybrid positioning scheme is adopted.It ensures the smoothness and accuracy of the movement of the target in different scenarios.The average error of the positioning during the entire experiment process does not exceed 2 meters.The co-location system proposed in this paper basically achieves seamless positioning and navigation in different scenarios.Compared with the GPS/MARG combined positioning system,the average positioning accuracy of the co-location system is improved by 64%.The system not only improves the positioning accuracy but also expands the application scene of the positioning technology.