| In the 21st century,people have entered the era of digital information.The application of GPS,Beidou and other satellite positioning and navigation systems in production and life tends to be mature,which can provide perfect and more accurate outdoor positioning and navigation services.However,with the deepening of informatization,people's demand for positioning and navigation in indoor environments is increasing.These traditional satellite positioning technologies cannot meet people's needs,and indoor positioning and navigation technologies have gradually become a research hotspot.In today's indoor positioning,ultrasonic,Bluetooth,WIFI and other positioning technologies have their own characteristics,but a single positioning technology is difficult to meet the accuracy requirements of people for indoor positioning.In view of the above problems,this paper studies the Ultra Wide Band(UWB)positioning and inertial navigation technology,the UWB-INS integrated navigation is adopted to improve the positioning accuracy.Based on this,the game theory and idea are applied to the indoor positioning system of the UWB-INS integrated navigation.At the same time,the indoor positioning hardware platform and software system based on UWB-INS integrated navigation are designed and built.The main work includes :Firstly,the basic principles and key technologies of Ultra Wide Band(UWB)positioning technology and inertial navigation technology are introduced.The reasons for UWB and INS positioning errors are analyzed,and the main combinations of the UWB and INS are explained.Secondly,the basic concept and classification of game theory are introduced.Based on the game theory,a game model suitable for the UWB-INS integrated positioning and navigation system is built,and the game strategy is analyzed,so that the UWB-INS integrated positioning system selects the best action strategy according to the environmental situation and conducts the integrated positioning and navigation under this strategy.Simulation experiments are carried out for different factors affecting the game strategy.Then the corresponding UWB-INS indoor positioning system is built,and the hardware and software design of the system are introduced and explained.In terms of hardware,the working characteristics and interface circuit design of hardware modules such as STM32 microcontroller,UWB module and inertial navigation module are described.In terms of software,the data acquisition program,data preprocessing program,data transmission program,PC software,and game strategy selection and position calculation program are designed and explained in turn.Finally,the simulation of data preprocessing algorithm,the test of the positioning function of the system and the test of the positioning function of the system under the condition of environmental switching,three kinds of experiments and simulations are carried out to verify the game model proposed in this paper.The results show that the system can select the optimal action strategy according to the indoor environmental information intelligently to adapt to the complex environmental changes and improve the positioning accuracy.The results also show that the method proposed in this paper not only improves the positioning accuracy,but also improves the stability and robustness of the system,and realizes the optimization of the indoor positioning system of the whole UWB-INS integrated navigation. |
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