Indoor pedestrian UWB/INS tightly combined navigation system and method adopting pseudo range and position information

A technology of position information and navigation method, which is applied in the direction of navigation, navigation, surveying and navigation through speed/acceleration measurement, which can solve the problems of unfavorable integrated navigation technology accuracy, limited navigation model flexibility, and reduced application range of integrated navigation model.

Active Publication Date: 2016-09-07
UNIV OF JINAN
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Problems solved by technology

For example, UWB devices are required to provide pedestrian navigation information, which requires that the environment where the target pedestrian is located must be able to obtain at least three reference node information, which greatly reduces the application range of the integrated navigation model. The sub-technology completes the positioning independently, but also introduces new errors, which is not conducive to the improvement of the accuracy of integrated navigation technology
In order to overcome this problem, scholars proposed to apply the tight combination model to the ...

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  • Indoor pedestrian UWB/INS tightly combined navigation system and method adopting pseudo range and position information
  • Indoor pedestrian UWB/INS tightly combined navigation system and method adopting pseudo range and position information
  • Indoor pedestrian UWB/INS tightly combined navigation system and method adopting pseudo range and position information

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Embodiment Construction

[0036] The present invention is described in detail below in conjunction with accompanying drawing:

[0037] An indoor pedestrian UWB / INS tight integrated navigation using pseudorange information and location information, such as figure 1 As shown, including: inertial navigation device INS, UWB positioning tag, UWB reference node and data processing system;

[0038] The inertial navigation device INS and the UWB positioning tag are respectively set on the pedestrian's shoes and body, the UWB reference node is set at any position, and the inertial navigation device INS and the UWB positioning tag are respectively connected to the data processing system.

[0039] Among them, the inertial navigation device INS: used to measure the navigation information such as the position, speed and attitude of pedestrians;

[0040] UWB positioning tag: used to measure the distance information between the UWB positioning tag and the reference node, that is, the pseudo-range information;

[0041...

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Abstract

The invention discloses an indoor pedestrian UWB/INS tightly combined navigation system and method adopting pseudo range and position information. The system comprises an inertial navigation device (INS), a UWB positioning label, a UWB reference node, and a data processing system. The inertial navigation device (INS) and UWB positioning label are arranged on the shoe and body of a pedestrian respectively. The UWB reference node can be arranged on any position. The inertial navigation device (INS) and UWB positioning label are connected to the data processing system. The device and method have the advantages that the position information of reference node is introduced into state variable, and at the same time, the position information of the reference node is estimated by a filter so as to overcome the shortages that a combined navigation system should obtain the position information of a reference node in advance and the positioning precision of the combined navigation system is depended on the precision of obtained position information of the reference node.

Description

technical field [0001] The invention relates to the technical field of integrated positioning in complex environments, in particular to an indoor pedestrian UWB / INS tight integrated navigation system and method using pseudorange information and position information. Background technique [0002] In recent years, Pedestrian Navigation (PN), as an emerging field of navigation technology application, is receiving more and more attention from scholars from all over the world, and has gradually become a research hotspot in this field. However, in indoor environments such as tunnels, large warehouses, and underground parking lots, factors such as weak external radio signals and strong electromagnetic interference will have a great impact on the accuracy, real-time performance, and robustness of target pedestrian navigation information acquisition. How to effectively integrate the limited information acquired in the indoor environment to eliminate the influence of the indoor comple...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/165G01C21/206
Inventor 徐元张勇程金赵钦君王滨王宜敏马思源
Owner UNIV OF JINAN
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