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A combined GPS UWB and MARG locationing algorithm for indoor and outdoor mixed scenario

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Abstract

An indoor or outdoor positioning system is hard to position in cross-region and complex environment. In order to make up for the loss of blind zone in scenario change, we proposed a cooperative positioning system based on GPS/UWB/MARG, which can achieve the seamless positioning between buildings in the hybrid scene. In the hybrid scene, using a weighted fusion algorithm to achieve the cooperative positioning of GPS and UWB, and MARG is used to improve the positioning accuracy of GPS. With data optimization and performance analysis of a subsystem, we process GPS/MARG data and UWB data by weighted fusion method. The optimal positioning information in different positioning environments will be output after independent judgment. The results show that, compared with GPS/MARG positioning system, the average positioning accuracy of the cooperative positioning system is improved by 64% in the hybrid scene. In addition, it expands the application scenario of a single positioning system.

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Acknowledgements

This research was financially supported by the National Natural Science Foundation of China (No. 61461017); the Hainan Natural Science Foundation Innovation Research Team Project (No. 2017CXTD0004); the Hainan Province Key Research and Development Projects (No. ZDYF2016002); the Innovative Research Project of Postgraduates in Hainan Province (No. Hyb2017-07); the Open Topic of State Key Laboratory of Marine Resources Utilization in South China Sea of Hainan University (No. 2016013A); the Key Laboratory of Sanya Project (No. L1410).

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Authors and Affiliations

  1. State Key Laboratory of Marine Resources Utilization in South China Sea, Hainan University, Haikou, Hainan, 570228, China

    Kun Zhang, Chong Shen, Qun Zhou, Haifeng Wang, Qian Gao & Yushan Chen

  2. College of Ocean Information Engineering, Hainan Tropical Ocean University, Sanya, Hainan, 572022, China

    Kun Zhang & Haifeng Wang

  3. College of Information Science and Technology, Hainan University, Haikou, Hainan, 570228, China

    Kun Zhang, Chong Shen, Qun Zhou, Qian Gao & Yushan Chen

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  1. Kun Zhang
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  2. Chong Shen
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  3. Qun Zhou
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  4. Haifeng Wang
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  5. Qian Gao
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  6. Yushan Chen
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Correspondence to Chong Shen.

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Zhang, K., Shen, C., Zhou, Q. et al. A combined GPS UWB and MARG locationing algorithm for indoor and outdoor mixed scenario. Cluster Comput 22 (Suppl 3), 5965–5974 (2019). https://doi.org/10.1007/s10586-018-1735-9

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