Mobile platform outdoor positioning method based on multi-sensor fusion

Abstract

The invention discloses a mobile platform outdoor positioning method based on multi-sensor fusion, and realizes high-precision position and direction measurement of a mobile platform. The positioning method is suitable for any occasion outdoors where an image identification marker can be placed on the ground and the mobile platform can freely moves. A system includes a power module, a controller module, a display module, a GPS wide-range positioning module, a partial high-precision positioning module formed by a camera and an inertia positioning module comprising an electronic compass and a photoelectric encoder. The method includes five steps, i.e., arrangement of the image identification marker, GPS information acquisition, image identification marker information acquisition through collection by the camera, electronic compass and photoelectric encoder information acquisition, and position and direction calculation and display. A multi-sensor fusion outdoor positioning technology provided by the invention can obtain global and partial position and direction information, and is low in cost, high in precision, good in real-time performance, wide in range of application and strong in expandability.

Description

technical field [0001] The invention relates to the field of outdoor positioning of mobile platforms, in particular to an outdoor high-precision positioning method for mobile platforms based on multi-sensor fusion. Background technique [0002] With the development of electronic technology, control technology, sensor measurement technology, signal processing technology, and computer technology, positioning technology has also achieved rapid development and has been widely used. [0003] At present, the indoor and outdoor direction information is mainly obtained through the electronic compass, and has relatively high accuracy; the indoor position information is mainly obtained from the local position information, and the existing technology is quite mature; the outdoor position information acquisition is currently the most widely used GPS positioning and navigation system, although the technology is relatively mature, but the accuracy of civilian use is not ideal, it is diffi...

AI Technical Summary

Problems solved by technology

However, the environmental layout of the former is relatively complicated, and the most important thing is that infrared sensing and ultrasonic detection are easily interfered by the complex outdoor environment, and it is difficult to meet the high-precision positioning requirements; the latter mainly uses the strength of electromagnetic signals to calculate the relationship between nodes on the mobile platform and other The distance between the reference nodes is used to calculate the position of the mobile platform based on the geometric relationship. It is very difficult to arrange the reference nodes outdoors, the cost is high, and it is easily interfered by other electromagnetic signals, and the accuracy is low

[0004] Zhejiang University proposed a multi-target outdoor positioning system and positioning method based on video acquisition. Although it has a certain positioning accuracy, the positioning system can only locate the living body with a pulse, and cannot meet the high-precision positioning requirements of the mobile platform.

Harbin Institute of Technology proposed a WiFi outdoor positioning method to establish / update the micro-assisted signal coverage map. Compared with the traditional WiFi outdoor positioning method, although the speed of WiFi outdoor positioning has been improved, in view of some inherent defects of WiFi positioning mentioned above , so that this method can only be applied to occasions where the outdoor environment is relatively simple and the requirements for positioning accuracy are not very high.

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