Emergency Positioning Method of Indoor Pedestrian in Non-Cooperative Navigation Environment Based on Virtual Reference Node Array/INS

Aiming at the requirements of positioning under emergency situations such as terrorist activities, natural disasters, etc., we propose an emergency positioning method of indoor pedestrian in non-cooperative navigation environment based on virtual reference node array/inertial navigation system in this paper. This method bases only on a reference node that has been placed indoor temporarily, and uses the distance information between the single reference node and the move node carried by pedestrian. In this emergency positioning method, we establish the virtual reference node array and virtual ranging overdetermined equations to obtain the pedestrian's three-dimensional positioning coordinates without accumulated error by using the surface intersection physical model and least square method. Furthermore, we combine the positioning results of inertial navigation and wireless virtual reference node array method, so that the fluctuation of wireless positioning error is suppressed, and long-term and high-precision positioning is achieved. Finally, we choose LinkTrack's UWB local positioning result as the reference comparison standard, and conduct experimental verification and performance evaluation of the proposed method. The experimental result shows that the average error of the proposed positioning method along X-axis and Y-axis are 0.049m and 0.056m respectively, which indicates that this method has similar positioning accuracy with LinkTrack's UWB local positioning system, and it can realize the accurate positioning and tracking of indoor pedestrian in non-cooperation navigation environment.