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Inertial navigation origin positioning method and system based on UWB ranging

An origin positioning and origin technology, which is applied in the field of inertial navigation origin positioning method and system based on UWB ranging, can solve the problems of not involving initialization origin and direction, poor flexibility and mobility, untrustworthy position information, etc., to eliminate disadvantages Influence, avoid initialization deviation, and the effect of flexible layout

Active Publication Date: 2016-11-16
上海瀚界科技发展有限公司
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Problems solved by technology

[0006] However, the existing inertial navigation cooperative UWB cooperative positioning technology mainly solves the problem of serious loss of position information after a long time caused by inertial navigation sensor drift and accumulated errors in a closed space without ground or air GPS calibration, and does not involve The initialization origin and direction of the inertial navigation are problematic, and multiple wireless sensors and other supporting facilities with known and fixed positions must be installed in the closed space in advance, which cannot adapt to the outdoor situation, and the flexibility and mobility are poor

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  • Inertial navigation origin positioning method and system based on UWB ranging
  • Inertial navigation origin positioning method and system based on UWB ranging
  • Inertial navigation origin positioning method and system based on UWB ranging

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Embodiment Construction

[0032] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0033] Such as figure 1 As shown, this embodiment is based on the inertial navigation origin positioning method of UWB ranging, and the same target is positioned by the UWB positioning user node and the inertial navigation positioning device, including the following steps: S1. Layout the UWB positioning anchor node, and determine the UWB positioning coordinates coordinate system and UWB positioning anchor node, set the inertial navigation positioning equipment, and determine the inertial navigation positioning coordinate system; S2. Obtain the positioning data of the UWB positioning user node and the positioning data of the inertial navigation positioning equipment; S3. Position the user node through UWB Data and the positioning data of the inertial navigation p...

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Abstract

The invention discloses an inertial navigation origin positioning method and system based on UWB ranging. The method includes the steps that S1, UWB positioning anchor nodes are distributed, a UWB positioning coordinate system and coordinates of the UWB positioning anchor nodes are determined, inertial navigation positioning equipment is arranged, and an inertial navigation positioning coordinate system is determined; S2, positioning data of UWB positioning user nodes and positioning data of the inertial navigation positioning equipment are acquired; S3, inertial navigation positioning origin parameters are calculated according to the positioning data of UWB positioning user nodes and the positioning data of the inertial navigation positioning equipment. The system comprises a UWB positioning module, an inertial navigation positioning module, a fusion control module and a central processing module. The method and system have the advantages that during initialization of the inertial navigation equipment, the origin position and direction of the inertial navigation equipment can be selected at will, the initialization difficulty of the inertial navigation equipment is low, and the system is high in flexibility, movable and easy to operate, and can be conveniently suitable for various indoor and outdoor environments.

Description

technical field [0001] The invention relates to the technical field of UWB positioning and inertial navigation positioning, in particular to an inertial navigation origin positioning method and system based on UWB ranging. Background technique [0002] With the rapid development of modern society, there are more and more targets that need to be precisely positioned in various fields. Therefore, people have put forward higher-level requirements for positioning technology, especially for the precise positioning of dynamic moving targets. It has gradually become a key issue that contemporary people pay attention to. However, in some areas of modern society, some of our commonly used dynamic positioning methods can no longer meet the current increasing demand for precise positioning. It makes it possible to accurately locate the dynamic target. [0003] UWB is a brand new communication technology that is very different from traditional communication technology. It does not ne...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 康琴简博宇周俊
Owner 上海瀚界科技发展有限公司
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