Indoor pedestrian positioning EFIR data fusion system and method with observation time lag

Abstract

The invention discloses an indoor pedestrian positioning EFIR data fusion system and method with observation time lag. The time of arrival (TOA) between a UWB (Ultra Wide Band) target node and a UWB reference node is acquired through the UWB target node, and distance information between the UWB reference node and the target node is obtained through a TOA-distance model. The distance information obtained is input to an EFIR filter as observation, data fusion is carried out through the EFIR filter, location information of a target pedestrian is estimated, and finally, the optimal location information of the pedestrian at the current time is obtained. The beneficial effect is as follows: the EFIR filter carries out data fusion by constructing a UWB positioning model with the eastward and northward location and speed of the target pedestrian at a time k and at a time k-1 as state variables and the distance between the reference node and a UWB positioning tag at the time k-1 measured by the UWB positioning tag as system observation, and the influence of data acquisition delay caused by UWB wireless data transmission on the positioning accuracy of the system is reduced.

Description

technical field [0001] The invention relates to the technical field of combined positioning in complex environments, in particular to an EFIR data fusion system and method for indoor pedestrian positioning with observation time lag. Background technique [0002] In recent years, Pedestrian Navigation (PN), as an emerging field of navigation technology application, is receiving more and more attention from scholars from all over the world, and has gradually become a research hotspot in this field. However, in indoor environments such as tunnels, large warehouses, and underground parking lots, factors such as weak external radio signals and strong electromagnetic interference will have a great impact on the accuracy, real-time performance, and robustness of target pedestrian navigation information acquisition. How to effectively integrate the limited information acquired in the indoor environment to eliminate the influence of the indoor complex environment and ensure the conti...

AI Technical Summary

Problems solved by technology

Although this method can achieve indoor positioning, due to the complex and changeable indoor environment, UWB signals are very susceptible to interference, resulting in a decrease in positioning accuracy or even loss of lock; at the same time, because the communication technology used by UWB is usually short-distance wireless communication technology, Therefore, if you want to complete large-scale indoor target tracking and positioning, you need a large number of network nodes to complete it together, which will inevitably introduce a series of problems such as network organizational structure optimization design, multi-node multi-cluster network collaborative communication, etc.

Therefore, at this stage, UWB-based target tracking still faces many challenges in the field of indoor navigation.

Images