Multi-sensor fusion-based indoor navigation device and method

A multi-sensor fusion and indoor navigation technology, which is applied in the field of indoor navigation, can solve the problems of small differences in sensor measurement accuracy indoor geomagnetic field distribution, insufficient use of magnetic field distribution information, and measurement "blind areas"

Active Publication Date: 2017-02-01
HUAZHONG UNIV OF SCI & TECH +1
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Problems solved by technology

The shortcomings of the existing indoor magnetic field navigation methods mainly lie in that the magnetic field is a gradient field, and only measuring the three-component data of the magnetic field does not make full use of the magnetic field distribution information. Small leads to measurement "blind spots"

Method used

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  • Multi-sensor fusion-based indoor navigation device and method
  • Multi-sensor fusion-based indoor navigation device and method
  • Multi-sensor fusion-based indoor navigation device and method

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Embodiment Construction

[0040] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the accompanying drawings.

[0041] as attached figure 1 As shown, an indoor navigation device based on multi-sensor fusion, the device includes an indoor magnetic map building module, a measurement module, a navigation positioning module, a central processing unit, a data storage module, a wireless communication module and a feedback interaction module, and the indoor magnetic map The construction module, measurement module, navigation and positioning module, data storage module, wireless communication module and feedback interaction module respectively perform data interconnection and communication with the central processing unit. The central processing unit is used to collect and analyze geomagnetic data, and perform functions such as map matching, wireless network transmission, and human-computer interactive communication in ...

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Abstract

The invention relates to a multi-sensor fusion-based indoor navigation device and a multi-sensor fusion-based indoor navigation method. The method comprises the steps: building a current indoor magnetic map; measuring basic information data of the current indoor position in real time, wherein the basic information data comprises air pressure difference delta P of the current floor position relative to the ground, magnetic induction intensity time sequence and magnetic field gradient matrix time sequence on a walking route between the position at the current time and the position at the previous time, a time sequence value of XYZ three-direction accelerated speed of a human body or an AGV trolley marching on the walking route, and barrier distance of the human body or the AGV trolley marching on the walking route; fusing the basic information data, positioning the real-time position and performing straight line sectional navigation. The multi-sensor fusion-based indoor navigation device and the multi-sensor fusion-based indoor navigation method are accurate in navigation and accurate in positioning.

Description

technical field [0001] The invention belongs to the field of indoor navigation based on geomagnetic distribution, in particular to an indoor navigation device and method based on fusion of multiple sensors such as magnetic gradients. Background technique [0002] With the rapid development of the economy and society, the indoor space for people's activities has become increasingly large and complex. In indoor places such as large underground parking lots, shopping malls, and large logistics warehouses, determine the position of yourself or the AGV, and navigate along a specific path to A certain indoor destination seems powerless, especially for the blind, and indoor navigation is more difficult when they lack visual perception ability, so an indoor positioning and navigation technology is urgently needed. [0003] Although the demand for indoor navigation is strong, traditional navigation technology cannot meet the requirements of indoor positioning due to various technical...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G08C17/02
CPCG01C21/206G08C17/02
Inventor 李国民李敏王东海郝兵杰
Owner HUAZHONG UNIV OF SCI & TECH
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