Indoor Relative Positioning Method and Experiment Based on Inertial Measurement Information/Human motion model/UWB Combined System

Navigation and positioning services are related to national security, economic development and social livelihood, they're playing a decisive and indispensable role in both military and civilian fields. Urbanization is accelerating and indoor sites are increasing. People spend more than 80% of their time living and working in the indoor environments (including large buildings, underground sites, mines, tunnels, etc.), How to achieve high-precision navigation and positioning in such a complex navigation environment? This is not only an urgent social problem but also a technical problem. Based on the introduction of indoor navigation background, an inertial measurement information/UWB combined indoor positioning method is proposed in this paper, to solve the problem of long-term positioning in a complex indoor environment, and the experimental researches have been performed. Firstly, based on the research of human motion model, the method extracts motion parameters related to navigation and establishes the mapping model between human motion parameters and navigation parameters in order to implement autonomous pedestrian navigation which is based on inertial measurement information/human motion model. Then, using the position information provided by UWB as the measurement, the Kalman filter based on inertial measurement information/ human motion model/UWB combined system is designed to integrate positioning information from the combined system of inertial measurement information/human motion model and UWB, so that it can provide long-term and high-precision relative navigation for indoor pedestrians. The paper develops a prototype of the inertial measurement information/human motion model/UWB combined system, which provides a physical platform for the experimental verification of the proposed method. What's more, it also optimizes and verifies the proposed method referring to experiments under the environment of NOKOV high-precision indoor 3D-motion capture system by Beijing measurement technology co., LTD. There are bright application prospects that the method can be extended in single-soldier system, urban anti-terrorism operations and pedestrian positioning in the field of emergency rescue.