Indoor self-positioning and self-directing two-dimensional navigation system

A navigation system and autonomous positioning technology, applied in two-dimensional position/course control, radio wave measurement system, navigation through speed/acceleration measurement, etc., can solve problems such as high operation and maintenance costs, and increased system complexity. Achieve the effect of high positioning and orientation accuracy, correct and feasible method, and easy engineering realization

Inactive Publication Date: 2012-05-02
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

The multi-sensor fusion navigation system makes up for many inherent shortcomings of a single sensor and improves p

Method used

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  • Indoor self-positioning and self-directing two-dimensional navigation system
  • Indoor self-positioning and self-directing two-dimensional navigation system
  • Indoor self-positioning and self-directing two-dimensional navigation system

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Embodiment Construction

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0042] see figure 1 , Figure 1A As shown, a two-dimensional navigation system for indoor autonomous positioning and orientation of the present invention comprises: DSP digital signal processor 1, MEMS gyro sensor 2, steering steering gear 3, left ultrasonic transceiver 4, right ultrasonic transceiver 7. The left scanning steering gear 5 and the right scanning steering gear 6; wherein: the left scanning steering gear 5 includes the left steering gear body 5A, the left steering gear rocker arm 5B and the left steering gear shaft 5C; the left steering gear rocker arm 5B is T Shape rocking arm, one end of the left steering gear rocking arm 5B rotates around the left steering gear rotating shaft 5C, and the left steering gear rocking arm 5B is installed on the left steering gear body 5A. Wherein: the right scanning steering gear 6 includes a right steering gear...

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Abstract

The invention discloses an indoor self-positioning and self-directing two-dimensional navigation system, which comprises a micro-electro-mechanical system (MEMS) gyro sensor, a digital signal processor (DSP), a digital servo, ultrasonic transceivers and the like. The two-dimensional navigation system is installed on a motion carrier. On one hand, the DSP processes the measurement data of the MEMSgyro sensor to obtain the deflection angle of the motion carrier relative to the initial position; and on the other hand, the DSP conducts controllable adjustment to the alignment orientation of the ultrasonic transceivers which are distributed on the two sides of the carrier and are fixedly connected onto the rocker arm of the servo through adjusting the deflection angle of a rocker of the digital servo, so as to realize a scanning ranging mode and an orienting ranging mode and to obtain the perpendicular distance from the carrier to an obstacle surface; the DSP converts variables for controlling the deflection angle of the digital servo in the processor when echoes are received into corresponding ranging pointing angles at the moment; and finally the DSP updates the position coordinatesof the current carrier relative to the initial position according to position updating matrices to complete one time of local self-positioning and self-directing of the motion carrier.

Description

technical field [0001] The invention relates to a two-dimensional navigation system for indoor autonomous positioning and orientation of a moving carrier. Background technique [0002] The positioning of the moving carrier includes the positioning of the outdoor environment and the positioning of the indoor environment. At present, the positioning systems for outdoor environments mainly include systems using cellular network technology positioning and GPS global positioning systems. The outdoor positioning accuracy that the GPS global positioning system can provide is about 3m to 5m at present, and the accuracy of the cellular network positioning system is far worse than this. These positioning systems are affected by the occlusion, reflection and diffraction of signals by buildings, and often have greater positioning errors when used in indoor environments, which cannot meet users' requirements for indoor positioning accuracy. [0003] The indoor positioning system is dif...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/16G01S15/08
Inventor 陈培舒磊正刘创韩潮
Owner BEIHANG UNIV
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