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Cubature Kalman Filter (CKF) based IMU/Wi-Fi (Inertial Measurement Unit/Wireless Fidelity) signal tightly-coupled indoor navigation method

An indoor navigation and tight combination technology, applied in the field of navigation, can solve problems such as unsatisfactory filtering effect and poor stability, achieve fast convergence speed, high filtering precision, and improve navigation precision

Active Publication Date: 2014-10-01
HARBIN ENG UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to provide a CKF-based IMU / Wi-Fi signal tight combination indoor navigation method, aiming to solve the problems of poor stability and unsatisfactory filtering effect in the existing indoor pedestrian combined navigation method

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  • Cubature Kalman Filter (CKF) based IMU/Wi-Fi (Inertial Measurement Unit/Wireless Fidelity) signal tightly-coupled indoor navigation method
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  • Cubature Kalman Filter (CKF) based IMU/Wi-Fi (Inertial Measurement Unit/Wireless Fidelity) signal tightly-coupled indoor navigation method

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[0031] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0032] The invention discloses a CKF-based IMU / Wi-Fi signal tight combination indoor navigation method. The method includes: establishing a database of RSS fingerprinting of the Wi-Fi signal; using the IMU to perform positioning to obtain the pedestrian's position Po IMU And speed, acceleration, attitude and other information; correct the drift of the IMU accelerometer through zero-speed correction, and get the corrected speed; use Wi-Fi signal for positioning, and get the pedestrian's position Po Wi-Fi ; Find and Po respectively in the built database IMU The closest n reference points and Po Wi-Fi The nearest n reference...

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Abstract

The invention discloses a Cubature Kalman Filter (CKF) based IMU / Wi-Fi (Inertial Measurement Unit / Wireless Fidelity) signal tightly-coupled indoor navigation method. The method comprises the steps of building RSS (Really Simple Syndication) fingerprinting database of Wi-Fi signals; locating by use of an IMU to obtain the PoIMU of the pedestrian position, the speed, the acceleration, the posture and other information; correcting the drifting of an IMU accelerometer through zero-speed correction to obtain a corrected speed; locating by use of the Wi-Fi signals to obtain the PoWi-Fi of the pedestrian position; finding n reference points nearby the PoIMU and n reference points nearby the PoWi-Fi, obtaining the distances diIMU and diWi-Fi from the measurement point to the reference points according to the positions of the given reference points, and then obtaining a distance difference delta d; and performing information fusion by CKF to obtain the position, the acceleration, the speed and the posture of a pedestrian. The method adopts the indoor Wi-Fi signals and the IMU information in an integrated manner, realizes information fusion by the CKF, and has the advantages of high filtering precision, high rate of convergence, strong robustness and high navigation precision.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a volumetric Kalman filter (Cubature Kalman Filter, CKF)-based indoor navigation method for tight combination of IMU / Wi-Fi signals. Background technique [0002] Existing pedestrian navigation and positioning mainly rely on the Global Position System (GPS). However, GPS positioning has disadvantages such as poor dynamic performance and non-autonomous positioning. Especially in environments where satellite navigation signals are easily blocked, such as indoors, city streets, and tunnels, signal loss may occur, and even cause positioning failure. [0003] For indoor navigation, a commonly used solution is to use a micro-electromechanical system (Micro-Electromechanical System, MEMS) inertial device for indoor navigation. However, in the pedestrian navigation autonomous positioning system based on MEMS inertial devices, the device errors will quickly diverge. In th...

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/165
Inventor 高伟杨若雨周广涛李佳璇白红美张鹏张思孙妍忞赵博
Owner HARBIN ENG UNIV
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