电子科技 Electronic Science and Technology ISSN 1007-7820,CN 61-1291/TN 室内复杂场景下非视距导致 UWB 定位系统定位精度下降以及行人航迹推算算法累积误差过大的 问题，文中提出了一种基于超宽带与行人航迹推算组合的室内定位算法。首先使用行人航迹推算算法预测 行人步长及航向，然后利用 UWB 测距信息计算行人位置，最后使用卡尔曼滤波将两种定位方法的信息进行 融合。实验结果表明，提出的组合定位系统可以有效解决 UWB 非视距影响导致的误差过大的问题，提高定 位精度和系统的鲁棒性，整体定位误差在 12 cm 以下。 关键词：室内定位;超宽带;非视距;行人航迹推算;卡尔曼滤波;步态检测;双边双向测距 中图分类号：TP393;TN99 文献标志码：A UWB/PDR Integrated Indoor Pedestrian Positioning GUO Wei,ZHANG Xuanxiong (School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China) Abstract: In view of the problems of the UWB positioning system's positioning accuracy decline and the accu- mulated error of the pedestrian trajectory estimation algorithm caused by the NLOS in the complex indoor scene, a UWB/PDR integrated indoor positioning algorithm is proposed in this study. The PDR algorithm is applied to es- timate pedestrian’s step length and heading. Th
