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Inertial navigation-based indoor positioning method and device

An indoor positioning and base station technology, used in measurement devices, navigation, surveying and navigation, etc.

Active Publication Date: 2017-10-24
湖南云箭格纳微信息科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The problem to be solved by the present invention is to provide an indoor positioning method and device based on inertial navigation for the problems existing in the existing inertial positioning, so that the positioning results are more accurate and long-term reliable positioning results can be obtained

Method used

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  • Inertial navigation-based indoor positioning method and device
  • Inertial navigation-based indoor positioning method and device
  • Inertial navigation-based indoor positioning method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0081] The carrier to be monitored is a person, and the position of the carrier to be monitored is calculated by using the person's foot dead reckoning (Foot-INS); at this time k is the sampling time. Preferably, an accelerometer and a gyroscope are arranged on the foot of the person.

[0082] In this embodiment, the specific steps of the indoor positioning method based on inertial navigation are as follows:

[0083] (1) While the carrier to be monitored is moving, the gyroscope measurement data of the carrier to be monitored 4 in the carrier coordinate system is collected at a fixed period Accelerometer measurement data in the carrier coordinate system It is preferably the accelerometer and gyroscope measurement data of the foot; wherein, the superscript b or subscript b indicates that the data is in the carrier coordinate system;

[0084] (2) Use gyroscope to measure data Accelerometer measurement data Calculate the position (x k ,y k ); if the carrier 4 to be moni...

Embodiment 2

[0134] The carrier 4 to be monitored is a person, and the position of the carrier to be monitored is calculated by using the waist dead reckoning (PDR-INS); at this time, k is the number of steps the person is traveling. The steps in this embodiment are the same as those in other embodiments, and the content in the steps in other embodiments can be adopted. In the second embodiment, in step (2), the PDR-INS uses the dead reckoning model to calculate the movement position change of the carrier. The accelerometer and gyroscope are preferably installed on the waist of the person, and the inertial measurement data obtained are the gyroscope measurement data of the waist of the person and accelerometer measurements

[0135] In the present embodiment, the specific sub-steps in step (2) are as follows:

[0136] (2.1) Use the following formula to calculate the step length L of the k-th step in the process of personnel moving k

[0137]

[0138] in, is the step frequency of...

Embodiment 3

[0145] The carrier 4 to be monitored is a wheeled robot, and the position of the carrier 4 to be monitored is calculated by using the wheeled robot dead reckoning (AGV-INS). In this embodiment, k is the sampling time. The steps in this embodiment are the same as those in other embodiments, and the content in the steps in other embodiments can be adopted. In this embodiment, in step (2), the AGV-INS uses a dead reckoning algorithm to obtain the position change of the wheeled robot.

[0146] In this embodiment, in step (2), the position of the wheeled robot in the navigation coordinate system (x k ,y k )

[0147]

[0148] Among them, L k is the horizontal displacement increment of the wheeled robot from time k-1 to time k, is the wheel orientation angle at time k, and k is the sampling point at a fixed sampling frequency. (x k ,y k ) is the AGV-INS inertial track data.

[0149] Among them, the pulse number n of the wheel encoder wheel encoder from k-1 time to k time...

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Abstract

The invention provides an inertial navigation-based indoor positioning method which comprises the following steps: (1) acquiring gyroscope measured data and accelerometer measured data of a to-be-monitored carrier; (2) calculating the position of the to-be-monitored carrier; (3) judging whether a signal of a base station is detected; (4) calculating the particle propagation distance, direction of propagation and variation of the direction of propagation; (5) calculating particle propagation distance noise and direction noise, and calculating a particle position set; (6) calculating the particle weight according to the detected signal of the base station; and (7) resampling to obtain position estimation of the to-be-monitored carrier. The invention further provides an inertial navigation-based indoor positioning device which comprises a base station, an accelerometer, a gyroscope and a signal processing unit. A flexible positioning framework combining inertial positioning to be fused with base station data based on particle filtering is established, so that the inertial positioning and the base station data can be effectively fused, and the positioning accuracy and reliability are improved.

Description

technical field [0001] The invention relates to an indoor positioning method and device, in particular to an indoor positioning method and device based on fusion of inertial navigation and base station data. The invention belongs to the field of indoor inertial positioning, in particular to the field of data fusion auxiliary positioning based on inertial navigation positioning. Background technique [0002] In emergency task scenarios such as fire rescue and rescue, obtaining the real-time positions of firefighters, search and rescue personnel, and police robots waiting to monitor can greatly improve rescue and work efficiency, and can effectively avoid unnecessary accidents caused by rescuers getting lost in the fire scene. Casualties. Inertial positioning is an important method to obtain the position of firefighters waiting for monitoring objects in emergency tasks. Because it does not rely on external equipment, it has strong positioning autonomy and high short-term posi...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16H04W4/04
CPCG01C21/165G01C21/206
Inventor 杨丛昊
Owner 湖南云箭格纳微信息科技有限公司
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