Positioning method, positioning apparatus and positioning system
A positioning method and technology of a wireless positioning system, applied in the field of moving target positioning, can solve problems such as poor positioning accuracy, large positioning error, and inaccurate positioning
Inactive Publication Date: 2017-11-10
ZHENGZHOU UNIV
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[0004] However, the positioning accuracy of radio technology and inertial navigation system changes in real time. For example, the positioning accuracy of inertial navigation system is high in a short period of time. As the working time increases, its errors gradually accumulate, and the positioning accuracy will become worse and worse.
The above-mentioned fusion positioning scheme is to perform weighted fusion of the target navigation information obtained by the inertial navigation system and the pseudo-range information obtained by wireless positioning according to a fixed weight, and the weight of the target navigation information obtained by the inertial navigation system and the pseudo-range information obtained by wireless positioning The allocation cannot match the positioning process of the inertial navigation system and wireless positioning system. As the positioning time prolongs, the accumulated positioning error will become larger and larger, resulting in serious positioning inaccuracy
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[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0065] The embodiment of the present invention discloses a positioning method, see figure 1 As shown, the method includes:
[0066] S101. Obtain a first positioning result for the moving object through calculation using a wireless positioning system, and calculate a weight factor for the first positioning result, and obtain a second positioning result for the moving object through calculation using an inertial navigation system, and calculating a weighting fa...
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The present invention provides a positioning method, a positioning apparatus and a positioning system. The positioning method comprises: calculating the first positioning result of a movement target by using a wireless positioning system, calculating the weight factor of the first positioning result, calculating the second positioning result of the movement target by using an inertial navigation system, and calculating the weight factor of the second positioning result; and according to the weight factor of the first positioning result and the weight factor of the second positioning result, carrying out weighing fusion treatment on the first positioning result and the second positioning result to obtain the positioning result of the movement target, wherein during the positioning process, the inertial navigation system is subjected to correction treatment when the movement target is in a stationary state. With the technical scheme of the present invention, the positioning precision of the positioning with the wireless positioning system and the inertial navigation system can be improved.
Description
technical field [0001] The present invention relates to the technical field of moving target positioning, in particular to a positioning method, device and system. Background technique [0002] With the rapid development of intelligent communication technology and Internet of Things technology, many fields in real life need to locate people and equipment. Outdoor positioning already has a relatively mature solution, but indoor positioning has no more accurate positioning method due to its complex environment, limited positioning area, serious lack of direct wave path, and serious multipath phenomenon. [0003] In the prior art, a relatively accurate indoor positioning method is to use an inertial navigation system combined with radio technology to achieve target positioning. Specifically, the target navigation information obtained by the inertial navigation system and the pseudo-range information obtained by wireless positioning are weighted and fused according to the set f...
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IPC IPC(8): G01C21/16H04W64/00
CPCG01C21/165H04W64/00
Inventor 张大龙高少甫侯维岩赵洪亮李建强曹哲康
Owner ZHENGZHOU UNIV