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中文摘要：
室内定位方法中,低成本惯性导航系统（INS）的定位误差随着时间和距离的增加而积累,需要采用其他手段抑制误差发散。室内环境下GPS无法正常工作,从而失去对INS误差的抑制作用;因此,该文提出了基于超声波/INS信息融合的室内定位方法。以自主导引小车（AGV）为定位终端,根据超声波定位技术和非完整约束条件得到自主导引小车的位置和速度信息,并利用该信息辅助INS,通过卡尔曼滤波进行信息融合,从而抑制纯惯导情况下定位误差发散的问题。采用Matlab对所提出的室内定位方法进行仿真验证,结果表明,采用超声波/INS信息融合方法能将INS的误差抑制在一定范围内,该方法适用于室内移动物体的实时定位。
英文摘要：
The low-cost inertial navigation system（INS）positioning error will be accumulated with the increase of the time and distance in the indoor positioning method,other methods are needed to restrain the error accumulation.GPS can′t work at the indoor environment,thus the suppression of the INS error will ineffective.An indoor positioning method based on ultrasonic/INS information fusion has been proposed in this paper.Using the automated guided vehicle（AGV）as the positioning terminal,the AGV′s position and velocity informations were gained through the ultrasonic positioning technology and nonholonomics constraint conditions,and the informations were used to aid AGV inertial navigation system,the information fusion was carried out through Kalman filter,thus inhibiting the error divergence problem.The proposed indoor positioning method was simulated and verified by using Matlab.The results show that using the ultrasonic/INS information fusion can suppress the INS error within a certain range,and is suitable for indoor real-time positioning of moving object.
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