A personal portable multi-source positioning information auxiliary correction method
A technology of positioning information and source positioning, applied in the field of navigation and positioning, can solve the problems of poor battery life, difficult implementation, unfavorable promotion, etc., to achieve the effect of ensuring accuracy and convenient use and operation
Active Publication Date: 2018-10-26
BEIJING INFORMATION SCI & TECH UNIV +1
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Problems solved by technology
This method only integrates personal motion constraints for inertial navigation and positioning, and cannot suppress inertial drift for a long time, resulting in poor battery life
For another example, the application number is: 201410416423.1, and the patent name is "Indoor Positioning Device and System", which requires a large number of positioning tags. Although the positioning accuracy is high, the implementation is difficult and costly, which is not conducive to promotion
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[0042] The specific steps of a personal portable multi-source positioning information auxiliary correction algorithm provided by the present invention are as follows:
[0043] Such as figure 2 , First use the acceleration, angular velocity and geomagnetic information (2-2) measured by the inertial / geomagnetic measurement unit (2-1) to update the inertial navigation (2-3). The update algorithm uses the traditional strapdown inertial Navigation solution algorithm. The Northeast is selected as the navigation coordinate system, and the quaternion method updated by the first-order Runge-Kutta method is used to solve the attitude information, and then the gravity is compensated according to the attitude matrix information and the specific force information to obtain the three-axis acceleration of the navigation system Instantaneous value , And use the instantaneous value of acceleration to calculate speed and position information. Since the selected small MEMS gyroscope has low accu...
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The invention discloses a personal portable auxiliary multisource locating information correcting method which can be used for correcting locating errors by inhibiting inertial drift by together using static gait features during pedestrian movement and external auxiliary electromagnetism locating information. The method comprises the following steps: (1) obtaining accelerated speed, angular speed, and geomagnetism information during the pedestrian movement, and calculating strap-down inertial three-dimensional space locating information; (2) obtaining electromagnetism locating signals and solving the three-dimensional space locating information; (3) carrying out static testing according to pedestrian movement detection constraint conditions; (4) building a local kalman filter by using zero-speed information and magnetic course information, and carrying out filter estimation on pedestrian locating information; and (5) building a main filter, carrying out the filter estimation on the pedestrian locating information after local correction by using the electromagnetism locating information, and finally correcting the pedestrian locating information by using the estimation amount of the main filter so as to obtain final locating information. According to the method, deep integration is carried out on the multisource locating information of pedestrian by using the two filters according to the static gait features during the pedestrian movement, so that the navigation and locating accuracy is improved.
Description
Technical field [0001] The invention belongs to the technical field of navigation and positioning, and particularly relates to a method for jointly correcting positioning errors with the stationary gait characteristics of pedestrian motion and external auxiliary positioning information. Background technique [0002] With the rapid development of mobile communication technology and Internet technology, related applications based on positioning and navigation have attracted more and more attention from people and corresponding enterprises, especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, libraries, and underground parking. In environments such as farms and mines, it is often necessary to determine the indoor location information of a mobile terminal or its holder. Currently, the personal positioning technology is mainly divided into three branches: positioning by preset nodes, fully autonomous positioning, and positioning by combining ...
Claims
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 费程羽苏中李擎范军芳付国栋刘宁李超
Owner BEIJING INFORMATION SCI & TECH UNIV