Single-particle filtering navigation device and method based on MEMS (Micro-electromechanical System) sensor and VLC (Visible Light Communication) positioning fusion
A technology of a navigation device and a navigation method, which is applied in directions such as navigation, measurement device, mapping and navigation, and can solve the problems of high cost, poor stability, and complex multi-sensor combined positioning algorithm.
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[0057] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0058] Such as figure 1 As shown, the attitude measurement and positioning single-element filter navigation device based on MEMS (Micro-Electromechanical Systems, micro-electromechanical systems) sensor and VLC positioning fusion includes: MEMS sensor, inertial navigation system (Inertial Navigation System, INS) module, visible light communication ( Visible Light Communication, VLC) positioning module, pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR) positioning module and attitude measurement and positioning single particle filter (Single Particle Filter, S-PF) module, where MEMS sensors include accelerometers, gyroscopes and magnetometer.
[0059] Acceleration signals measured by the accelerometer in the XYZ direction are transmitted to the PDR positioning module for position estimation, and the other is transmitted to the INS m...
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