33results about How to "Positioning results are stable" patented technology

The invention discloses a signal source positioning method based on a BFGS quasi-Newton method and mainly aims to solve the problems that median error is introduced in an existing positioning method, positioning results are fuzzy, practicality is not strong, calculation amount is large, positioning results are not stable and the like. The signal source positioning method based on the BFGS quasi-Newton method comprises the following steps of obtaining a measured value reaching time difference and a measured value reaching gain ratio; setting joint positioning error equations through the relationship that the measured valve minus measured error is a real value; obtaining solution of the positioning error equations through the BFGS quasi-Newton method; and obtaining position coordinate values of a target source through the fact that the solution of the positioning error equations plus position coordinate values of a reference monitor node. According to the signal source positioning method based on the BFGS quasi-Newton method, stable and high precision positioning is achieved. The signal source positioning method based on the BFGS quasi-Newton method is suitable for the environment with low signal-noise rate and strong in practicability.

The invention discloses a 125k-based analog reference label positioning system and a method thereof, comprising a 125k positioning base station, a server terminal and a network switch, and the 125k positioning base station is connected to the server terminal through the network switch. The steps include an offline training phase and an online calculation phase, the offline training phase includes training the RSSI-distance model and generating simulated reference labels. The positioning position of the present invention has little fluctuation, does not increase cost, and has high precision.

The invention provides a lane line positioning method based on multi-feature fusion and a polymorphism mean value. According to the method, images of road conditions in front of vehicles are obtained through a camera; the gray level distribution information of lane lines and the color distribution information in an HSI space are fused according to weight to obtain a lane line suspected area according to the pavement gray scale normal distribution features and the HIS color space information; then, according to priori knowledge, the searching is carried out from the middle of a road to the two sides for excluding non-lane regions, and sub images which avoid the non-road feature interference and contain the lane lines are obtained; then, the sub images are subjected to margin determination; Hough transformation is adopted for detecting straight lines for determining the positions of the lane lines in the current frame; and finally, through fusing the multi-frame lane line states and utilizing the actual condition that the lane line positions cannot suddenly change, the mean value of detection results of continuous frames is worked out, and stable lane line positioning results are obtained.

The invention discloses an indoor terminal positioning method based on virtual sampling points. The indoor terminal positioning method comprises the following steps: collecting and filtering signal strength of a terminal; judging which AP (access point) wins fast to realize fast positioning of the AP when the terminal is very close to the AP, wherein if a certain AP receives the signal strength of the terminal, which is larger than a set threshold value, the AP is considered to win fast, and then outputting the position of the AP as a positioning result; executing the similarity matching process of the virtual sampling points, and selecting the sampling point as the positioning result if a certain virtual sampling point wins; executing weight matching of the virtual sampling points, and selecting the sampling point as the positioning result if a certain virtual sampling point wins; and otherwise, keeping the position of terminal unchanged. The logic relation between the position in an actual environment and the AP in a WIFI (wireless fidelity) environment is in correspondence through the virtual sampling points, and the virtual sampling points are used as positioning datum points for indoor positioning, thereby avoiding the sampling work for sampling positioning and improving the capability of responding to the changes in the environment.

The invention discloses a supercompact combination satellite navigation receiver which comprises a radio frequency front end, a signal preprocessor, a base band prefilter, a navigation filter, a micro inertial navigation module, a pseudo-range and pseudo-range rate calculating module and an ephemeris resolving and start selection calculating module. A self-adaptive filter is arranged between the base band prefilter and the navigation filter. An output of the base band prefilter is used as an input to be switched in the self-adaptive filter and then an output of the self-adaptive filter is used as an observed quantity to be input into the navigation filter to carry out data fusion, and thus, the stability and the tracking accuracy of a tracking loop can be obviously improved, so that the adaption capacity of GNSS (Global Navigation Satellite System) positioning on the environment and the motion state is improved. Furthermore, the vector tracking loop is formed by the signal proprocessor, the base band prefilter, the self-adaptive filter, the navigation filter and the pseudo-range and pseudo-range rate calculating module; and the navigation filter adopts a federated filter, so that the stability and the tracking accuracy of the tracking loop can be improved, and thus, the performances of reliability, positioning accuracy and the like of the GNSS positioning are improved.

The invention discloses an indoor and outdoor integrated positioning and navigation method and its system, which relate to the field of positioning fusion; the method includes step 1: acquiring GPS, Bluetooth and inertial positioning data; step 2: positioning data through adaptive weighting and Kalman filtering and complete the positioning calculation based on distance correction to obtain the final positioning point; step 3: divide the navigation line into a point set to obtain the reference point for projection calculation, and use the sliding window and curve geometric projection to project the final positioning point onto the navigation line The reference point to obtain the projection point; step 4: use the projection point for navigation and map display. The present invention adopts adaptive weighting and Kalman filter model to obtain smooth positioning results, corrects the results based on distance, obtains stable and accurate positioning, and overcomes the calculation amount caused by the fusion of inertial positioning, Bluetooth positioning and GPS positioning. Difficulties in real-time and stability, to achieve smooth indoor and outdoor integrated positioning and navigation.

The present application belongs to the technical field of robots, and in particular relates to a mapping method, a device, a computer-readable storage medium and a robot. The method is applied to a robot, and the robot includes a first laser radar and a second laser radar, and the installation position of the first laser radar is higher than the installation position of the second laser radar, and the method includes: acquiring the second laser radar A laser key frame; calculate the current pose of the robot according to the first laser key frame; update the first probability map according to the current pose and the first laser key frame, and obtain the updated first probability map ; Obtain a second laser key frame; update a second probability map according to the current pose and the second laser key frame to obtain an updated second probability map; according to the updated first probability map and the The updated second probability map generates a fused grid map for robot navigation, which greatly improves the stability of positioning and navigation.

The invention discloses a baseband module of a GPS (global positioning system) receiver and a GPS signal acquiring and tracing method. The baseband module comprises an acquiring and tracing module, a synchronization and navigation message extraction module, a satellite selection calculation module, an observation amount calculation module, an error correction module and a navigation location resolution module which are connected with one another in sequence, wherein the acquiring and tracing module is connected with an RF (radio frequency) front-end circuit. Based on a rapid acquisition algorithm and a high-sensitivity carrier tracing technique, the baseband module can be used for achieving weak signal GPS location in high-noise environment. The baseband module is suitable for all types of GPS location equipment.

The invention discloses an anti-interference GNSS receiver device combining multiple modes and multiple frequencies with array processing. The receiver device comprises an antenna array, multi-path array signal processing channels and a base band used for signal processing, wherein the antenna array, the multi-path array signal processing channels and the base band are connected in sequence, a plurality of GNSS signals output by the antenna array are input into corresponding array signal processing channels respectively, and the array signal processing channels are sued for conducting mixing on the GNSS signals output by the antenna array. When no interference exists, each array signal processing channel outputs one type of frequency point signal, and multi-modality positioning is achieved. When interference exists, all the array signal processing channels or part of the array signal processing channels are selected to participate in anti-interference positioning, and interference restraining is achieved. According to the anti-interference GNSS receiver device, the anti-interference performance and the positioning performance of the receiver can be effectively improved.

The invention discloses a device for indoor three-dimensional space positioning based on rotary light patterns. The device comprises a periodical flashing light source and a uniform rotation special-shaped fan blade, wherein the plane of the fan blade is parallel with ground; a connecting line between the center of the light source and the center of the fan blade is vertical to the ground; a plurality of devices are arranged on the plane which is parallel with the ground, and the fan blade rotary cycles and light source flashing cycles of the devices are different. The invention also provides a method for the indoor three-dimensional space positioning based on the device. The method comprises the following steps of detecting the change rule of different light patterns by a photosensitive sensor, so as to judge an included angle between a to-be-positioned target and the rotation axis vertical line of the fan blade, and a direction included angle between the to-be-positioned target and the centerline of each fan blade; then, determining the position of the to-be-positioned target by the position of the light source. The device has the advantages that the positioning accuracy is high, the positioning result is stable, the layout cost is low, the hardware requirement of target positioning is low, the number of simultaneously positioned targets is more, the expanding of positioning range is easy, and the like.