Integrated location method based on unscented Kalman filtering

An unscented Kalman and combined positioning technology, which is applied in positioning, radio wave measurement system, measuring device, etc., can solve the problems of positioning where multipath interference cannot be achieved, and achieve good fusion effect, good stability and strong reliability Effect

Inactive Publication Date: 2017-09-22
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] The invention aims to solve the defect that the existing combined positioning system of visible light positioning and inertial navigat

Method used

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  • Integrated location method based on unscented Kalman filtering
  • Integrated location method based on unscented Kalman filtering
  • Integrated location method based on unscented Kalman filtering

Examples

Experimental program
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Embodiment 1

[0074] Taking the AGV visible light / inertial combined positioning system as an example, the "a visible light positioning / inertial navigation combined positioning method based on unscented Kalman filter" of the present invention is used to realize the combined positioning of visible light positioning / inertial positioning, and the specific steps are as follows figure 1 shown.

[0075] Step A: The system initialization unit initializes the loop count value k, sets the working mode Boolean value Bool; sets the loop maximum value k max ;Set the combined positioning initial coordinate value at time k=1, and set the initial covariance;

[0076] Specifically in this embodiment, k is initialized to 1; set the initial covariance P=0;

[0077] Step B: Determine whether the Bool value is 0, and perform corresponding operations:

[0078] If yes in step B.1, correspond to figure 1 "Bool=0?" in the Y output, set the loop maximum k max is infinity;

[0079] Step B.2 If no, corresponding ...

Embodiment 2

[0098] Taking the combined visible light / inertial navigation positioning system for pedestrian navigation as an example, the "a visible light positioning / inertial navigation combined positioning device based on unscented Kalman filter" of the present invention is used to realize the combined positioning of visible light positioning / inertial positioning:

[0099] Step a: the system initialization unit initializes the cycle count value, sets the Boolean value of the working mode and the maximum value of the cycle count, sets the combined positioning initial coordinate value at k=1, and sets the initial covariance, specifically the same as step A;

[0100] Step b: Determine whether the Bool value is 0, and perform corresponding operations, the details are the same as step B:

[0101] Step c: The inertial navigation unit collects the motion parameters of the inertial navigation, and the visible light positioning unit calculates the coordinates of the visible light positioning posit...

Embodiment 3

[0117] According to the parameters described in Example 1, this embodiment specifically elaborates the combined positioning position results obtained by performing steps A to C of the present invention, and compares them with the positioning position results obtained by the existing visible light positioning method and inertial navigation method. The comparison results are as follows figure 2 .

[0118] figure 2 Among them, the units of the horizontal axis and the vertical axis are meters; the dotted line "actual route" is the real trajectory of the AGV trolley; The combined positioning position trajectory calculation results obtained from steps A to C of the filtered visible light combined positioning method; the star-dash line "inertial navigation result" is the positioning position track obtained by using the traditional inertial navigation method; the circled line "visible light positioning result" It is the positioning position trajectory obtained by the positioning me...

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Abstract

The invention discloses an integrated location method based on unscented Kalman filtering and belongs to the technical field of indoor location and visible light location. The integrated location method comprises the following steps: 1, by using a system initialization unit, initializing a circulation count value, setting a working mode Boolean value and a maximum circulation count value, setting an integrated location initial coordinate value at a moment k=1, and setting an initial covariance; 2, by using an inertial navigation unit, acquiring inertial navigation movement parameters, and by using a visible light location unit, solving a visible light location coordinate; 3, by using a filtering and solving unit, setting equations and parameters of UKF (Unscented Kalman Filtering), and performing fusion filtering processing on inertial movement data and visible light location data of a carrier, so as to obtain a carrier position after filtering; 4, by using a position solving unit, calculating an integrated location coordinate of a moment k; 5, by the position solving unit, judging whether the circulation count value meets the maximum circulation count value or not, and determining whether the method is completed or not. By adopting the integrated location method, visible light location errors are effectively reduced, and the reliability, stability and practicability are relatively good.

Description

technical field [0001] The invention relates to a combined positioning method based on an unscented Kalman filter, and belongs to the technical fields of indoor positioning and visible light positioning. Background technique [0002] In recent years, with the rapid development of smart devices, location-based services have also developed rapidly. Personal requirements for refined, accurate, and seamless location services have been increasing, and the development of indoor positioning technology has also become a new trend. focus point. However, because traditional positioning technologies such as GPS cannot meet the needs of indoor fine positioning, indoor positioning technology represented by visible light positioning technology has begun to emerge. However, although visible light positioning is favored for its high precision, low cost, and easy implementation, it is easily affected by problems such as multipath reflection, map restrictions, and signal occlusion. The posit...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01S5/16
CPCG01C21/165G01C21/206G01S5/16
Inventor 冯立辉李志天杨爱英钱晨
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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