ISSN1006－7167CN31－1707/TＲESEAＲCHANDEXPLOＲATIONINLABOＲATOＲY第41卷第12期Vol．41No．122022年12月Dec．2022DOI:10．19927/j．cnki．syyt．2022．12．017基于GPS/UWB的室内外无缝定位实验装置曾庆喜a，b，金宇a，林雅洁a，修巧艳b，张琪a，蔺筱宣a(南京航空航天大学a．自动化学院;b．教师发展与教学评估中心/高等教育研究所，南京211106)摘要:为实现智能停车场等场景中车辆的精确引导，选择GPS与UWB作为联合定位系统的组成模块，分别研究GPS与UWB的定位原理与误差来源，编写算法实现高斯-克吕格投影、TOA坐标解算并实现两者的单独定位，通过引入Kalman滤波进行数据平滑处理。根据GPS与UWB定位质量与定位范围特点，划分联合定位系统中GPS和UWB定位的有效区域，编写了GPS/UWB无缝切换算法。实验表明，该组合定位实验装置整体定位切换流畅，Kalman滤波效果较好，能够有效降低定位误差，定位精度满足智能停车场车辆引导的室内外定位需求。关键词:全球定位系统;超宽带;室内外无缝定位;组合定位中图分类号:TP242．6文献标志码:A文章编号:1006－7167(2022)12－0086－05IndoorandOutdoorSeamlessPositioningExperimentalDeviceBasedonGPS/UWBZENGQingxia，b，JINYua，LINYajiea，XIUQiaoyanb，ZHANGQia，LINXiaoxuana(a．CollegeofAutomationEngineering;b．CenterofFacultyDevelopmentandTeachingEvaluation/InstituteofHigherEducation，NanjingUniversityofAeronauticsandAstronautics，Nanjing211106，China)Abstract:Inordertorealizetheaccurateguidanceofvehiclesinscenessuchasintelligentparkinglot，GPSandUWBareselectedastheconstituentmodulesofthejointpositioningsystem．ThepositioningprinciplesanderrorsourcesofGPSandUWBarestudied，respectively．ThealgorithmiswrittentorealizeGaussianKrugerprojectionandTOAcoordinatesolution，andrealizetheirseparatepositioning．ThedataaresmoothedbyintroducingKalmanfilter．Onthisbasis，accordingtothecharacteristicsofGPSandUWBpositioningqualityandpositioningrange，theeffectiveareasofGPSandUWBpositioninginthejointpositioningsystemaredivided，andtheGPS/UWBseamlessswitchingalgorithmiscompiled．Experimentsshowthattheoverallpositioningswitchingofthecombinedpositioningexperimentaldeviceissmooth，theKalmanfilteringeffectisgood，thepositioningerrorcanb...
