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A Positioning Error Correction Method Combining Inertial Navigation Technology and Fingerprint Positioning Technology

A technology of inertial navigation and fingerprint positioning, which is applied in navigation, surveying and mapping and navigation, navigation calculation tools, etc., can solve the problem of error accumulation and increase, and achieve the effect of reducing the range of error estimation and improving positioning accuracy

Active Publication Date: 2018-02-13
沈向东
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the user carrying the positioning device travels a long distance in the building and then returns to the previous location point, the accumulation of errors will be greatly increased

Method used

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  • A Positioning Error Correction Method Combining Inertial Navigation Technology and Fingerprint Positioning Technology
  • A Positioning Error Correction Method Combining Inertial Navigation Technology and Fingerprint Positioning Technology
  • A Positioning Error Correction Method Combining Inertial Navigation Technology and Fingerprint Positioning Technology

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Embodiment Construction

[0046] In order to overcome the shortcomings of the prior art, the present invention provides a positioning error correction method that combines inertial navigation technology and fingerprint positioning technology. In the indoor positioning based on inertial navigation technology, an autonomous calibration mechanism is introduced to accumulate inertial navigation. The error is corrected to ensure positioning accuracy.

[0047] Such as image 3 Shown is the flow chart of the present invention, including the following steps:

[0048] S10: Determine the reference position.

[0049] When the user enters the room from the outdoors with the mobile terminal, a reference position with reliable accuracy is required as the initial position (x 0 , Y 0 ,z 0 ). The reference position can be set at the doorway of the room, and the position information can be obtained by setting RFID. Or, since entering the room from the outside will cause a large attenuation of the satellite positioning signal...

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Abstract

The invention discloses an inertial navigation-fingerprint location-combined positioning error correction method. The method comprises A, determining a reference position, B, in movement, building positioning road signs at intervals by an inertial navigation method and recording the information of the positioning road signs, wherein the information comprises space coordinates, a wireless signal set and inertial navigation errors of a travel distance relative to the reference position, and C, according to the wireless signal set measured in real time, determining if the wireless signal matches with the recorded positioning road sign, and when the recorded positioning road sign is matched, based on coordinates of the matched positioning road sign, calibrating and correcting coordinates determined by the current inertial navigation technology. When the on-site positioning error is small, fingerprint is acquired and is used as a road sign, and through fingerprint coupling, when a user passes through the road sign again, the current position coordinates are calibrated by the small-error position coordinates so that an error estimation range is reduced and positioning precision is improved.

Description

Technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a positioning error correction method combining inertial navigation technology and fingerprint positioning technology. Background technique [0002] Satellite positioning signals are difficult to receive effectively indoors due to the shielding effect of buildings. The conventional trilateral method, TOA (Time of Arrival) and AOA (Arrival of Angle) methods are used in complex indoor environments. Satisfactory accuracy can not be obtained even if it is down. In order to meet the market demand for indoor positioning, the more advanced technical means currently used include inertial navigation technology and wireless signal fingerprinting methods, each of which has its limitations. [0003] Inertial navigation technology uses the increasingly popular Inertial Measurement Unit (IMU) to obtain the inertial change value of a moving object and then applies the blind zone estimation...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 沈向东
Owner 沈向东