Single particle filter navigation device and method based on mems sensor and vlc positioning fusion
A navigation method and technology of a navigation device, applied in directions such as navigation calculation tools, can solve problems such as deviation, high cost, 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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