Research On Indoor And Outdoor High Precision Integrated Positioning Method Based On BDS/INS/PL

With the continuous progress of positioning technology,people’s demand for location services is also increasing,especially for high precision positioning in different indoor and outdoor scenes.The Beidou Navigation Satellite System(BDS)has the advantages of high positioning accuracy and no error accumulation,but its signal is easily shielded or interfered.Inertial Navigation System(INS)are fully autonomous but have accumulated errors.Pseudolite(PL)can reproduce satellite signals in indoor or outdoor sheltered environments,but their positioning accuracy is susceptible to multipath effects.Therefore,the combination of BDS,INS and PL has good complementary characteristics,and their integrated navigation and positioning system has laid a good theoretical foundation for improving the indoor and outdoor high-precision continuous positioning,which has great research space and significance.This work of this dissertation focuses on the BDS/INS/PL indoor and outdoor high-precision integrated positioning.The main research contents include:(1)Aiming at the problem that the single positioning system cannot achieve high precision and continuous indoor and outdoor positioning,the integrated positioning scheme of BDS/INS/PL is proposed.The basic principle of inertial navigation is deduced and the pedestrian gait model and zero-speed detection are analyzed and verified.(2)Aiming at the problem of low precision of outdoor Beidou pseudometric positioning,a high precision Beidou Real Time Kinematic(RTK)positioning model based on carrier difference is studied.Moreover,given the multipath effect in indoor pseudolite positioning,this dissertation proposes a regional pseudolite positioning strategy and studies the positioning area setting and the optimal layout structure of pseudolite.Finally,the simulation results of regional pseudolite positioning show that the positioning accuracy is at centimeter level.(3)In order to meet the requirements of indoor continuous high-precision positioning,an integrated inertial navigation/regional pseudolite IEZZHP positioning algorithm based on Extended Kalman Filter(EKF)is proposed.Firstly,we design an improved IEZZH positioning algorithm based on EKF supplemented with zero velocity update,zero angular velocity update and heading drift observation update to improve the long-term positioning accuracy of the inertial navigation system.Secondly,in order to maintain the indoor continuous high-precision positioning effect,the IEZZHP positioning algorithm is proposed based on the IEZZH algorithm by introducing the high-precision measurement module of regional pseudolite.(4)The proposed indoor and outdoor high-precision positioning algorithms are verified by experimental results.Firstly,the indoor positioning algorithms are analyzed experimentally.The results indicate that the improved IEZZH algorithm can effectively suppress the static cumulative error of inertial navigation for a long time,and the introduction of regional pseudolite IEZZHP algorithm can keep the pedestrian dynamic high-precision positioning effect,which can maintain the sub-meter positioning accuracy in the indoor scene.Furthermore,the hardware platform of the outdoor Beidou RTK positioning system is built to verify the positioning accuracy in real-world.The results show that the Beidou RTK algorithm can achieve centimeter-level accuracy in static and dynamic real-time positioning.