BDS/GPS/UWB Adaptively Robust EKF Tightly Coupled Navigation Model Considering Pedestrian Motion Characteristics

In the indoor and outdoor transition area, due to its poor availability in a complex positioning environment, the BDS/GPS SPP (single-point positioning by combining BeiDou Navigation Satellite System (BDS) and Global Positioning System (GPS)) is unable to provide an effective positioning service. In view of the poor positioning accuracy and low sampling rate of the BDS/GPS SPP and the gross error, such as the non-line-of-sight error of UWB (Ultra-Wide-Band), making the accuracy of positioning results poor, a BDS/GPS/UWB tightly coupled navigation model considering pedestrian motion characteristics is proposed to make positioning results more reliable and accurate in the transition area. The core content of this paper is divided into the following three parts: (1) Firstly, the dynamic model and positioning theories of BDS/GPS SPP and UWB are introduced, respectively. (2) Secondly, the BDS/GPS/UWB tightly coupled navigation model is proposed. An environment discrimination factor is introduced to adaptively adjust the variance factor of the system state. At the same time, the gross error detection factor is constructed by using the a posteriori residuals to make the variance factor of the measurement information of the combined positioning system able to be adjusted intelligently for the purpose of eliminating the interference of gross error observations on positioning results. On the other hand, pedestrian motion characteristics are introduced to establish the constraint equation to improve the consistency of positioning accuracy. (3) Thirdly, the actual measured data are used to demonstrate and analyze the reliability of the positioning model proposed by this paper. The experimental results show that the BDS/GPS/UWB tightly coupled navigation model can effectively improve the accuracy and availability of positioning. Compared with BDS/GPS SPP, the accuracy of this model is improved by 57.8%, 76.0% and 56.5% in the E, N and U directions, respectively.