Research On Integrated Seamless Positioning System Based On UWB ANG GNSS

With the rapid development of intelligent robots,industrial automation and UAVs,the demand for high-precision positioning services is becoming more and more urgent.Because in many positioning scenarios,indoor and outdoor seamless positioning or multi-positioning network fusion is needed,so the high-precision,seamless multi-positioning data fusion and switching algorithm should be studied.At present,many seamless location algorithms are based on GNSS and indoor positioning technology.Indoor positioning schemes use WiFi,Bluetooth and so on.Because of the low positioning accuracy of these schemes,this study plans to study UWB indoor positioning,and finally to study seamless positioning algorithm combined with GNSS technology.The main results of this study are as follows:In this study,the existing indoor and outdoor positioning technology and seamless positioning technology are studied extensively,and the seamless positioning based on particle filter and Kalman filter is studied emphatically.On the basis of absorbing the advantages and ideas of existing algorithms,a seamless positioning algorithm based on K nearest neighbor algorithm for traffic jam is proposed.Finally,the algorithm is simulated and implemented.Finally,the algorithm is implemented.A small seamless positioning system has been built.The core of this algorithm is the K-nearest neighbor algorithm of dynamic weight,which uses the size of weight to complete the selection of effective data,thus completing the switching of location area,including indoor location area,indoor and outdoor location area.Because of the characteristics of weighted decision-making in this algorithm,it has a certain effect on eliminating multipath effects.Moreover,the computational complexity of the algorithm is small,and it is suitable for high-speed and large-capacity computing occasions.UWB and GNSS are used to complete the hardware and software design of seamless positioning system.The positioning base station system,positioning label system and positioning information display system are developed and tested,including UWB ranging test,UWB positioning test and positioning real-time test..