Indoor positioning method based on micro inertial sensor
A micro-inertial sensor and indoor positioning technology, applied in instruments, measuring devices, surveying and mapping, and navigation, etc., can solve the problems of heavy workload of satellite positioning information collection, high cost of hardware equipment, complex algorithms, etc.
Inactive Publication Date: 2015-12-09
BEIJING MECHANICAL EQUIP INST
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Problems solved by technology
[0003] The purpose of the present invention is to provide an indoor positioning method based on a micro-inertial sensor, which solves the problem of blind spots in satellite positioning indoors and the positioning method based on radio frequency identification, which has a large workload of information collection, complex algorithms, difficult data processing, and high hardware equipment costs.
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[0057] A kind of indoor positioning method based on micro-inertial sensor, its concrete steps are:
[0058] The first step is to build a micro-inertial indoor positioning system
[0059] Micro-inertial indoor positioning system, including: micro-inertial sensor 1, magnetic resistance electronic compass 2, information collection and processing device 3, navigation solution processor 4, display and control device 5, communication bus A6, communication bus B7 and communication bus C8; Micro-inertial sensor 1 includes: three-axis micro-inertial accelerometer 9 and three-axis micro-inertial gyroscope 10; navigation solution processor 4 includes: error compensation module 11, static and dynamic measurement data identification module 12, initial alignment module 13 and fast Linked inertial navigation calculation module 14. The micro-inertial sensor 1 and the magnetoresistive electronic compass 2 are packaged in one body, both of which are connected to the information collection and ...
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The invention discloses an indoor positioning method based on a micro inertial sensor. The method specifically includes the steps of establishing a micro inertial indoor positioning system comprising the micro inertial sensor (1), a magnetic resistance electronic compass (2), an information collecting and processing device (3), a navigation calculation processor (4), a display control device (5), a communication bus A (6), a communication bus B (7) and a communication bus C (8), compensating for measurement data errors through an error compensation module (11) after the micro inertial indoor positioning system is turned on, recognizing carrier static and dynamic data through a static and dynamic measurement data recognizing module (12), calculating carrier initial posture angles through an initial alignment module (13), calculating carrier positioning information through a strapdown inertial navigation calculating module (14), and outputting carrier positioning information through the display control device (5). By means of the method, the problems that dead zones exist during satellite indoor positioning, workloads are large when information is collected through other positioning technologies, algorithms are complex, data processing is difficult and hardware device cost is high are solved.
Description
technical field [0001] The invention relates to an indoor positioning method, in particular to an indoor positioning method based on a micro-inertial sensor. Background technique [0002] At present, since the navigation signal of the satellite positioning system cannot cover indoors, indoor positioning is all based on radio frequency identification positioning methods. The indoor positioning system based on the radio frequency identification method includes: a reference electronic tag, a radio frequency reader, a host and a database. The electronic tag and the reader realize data exchange through a wireless network. The accuracy is high, but the electronic tag array needs to be accurately arranged in the indoor environment in advance. At the same time, in order to ensure high positioning accuracy, the number of electronic tags needs to be increased. The strength of the signal. Therefore, the existing indoor positioning methods are limited due to various reasons, making th...
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IPC IPC(8): G01C21/18G01C21/20
CPCG01C21/18G01C21/206
Inventor 卞伟伟葛晓飞高文劭
Owner BEIJING MECHANICAL EQUIP INST