An 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, comprising: obtaining the arrival time between the UWB target node and the UWB reference node through the UWB target node, and obtaining the UWB reference node and the UWB reference node through the TOA-distance model Distance information between target nodes. The obtained distance information is input into the EFIR filter as an observation, and the data fusion is performed through the EFIR filter, and the position information of the target pedestrian is estimated, and finally the optimal position information of the pedestrian at the current moment is obtained. Beneficial effects of the present invention: the EFIR filter uses the position and speed of the target pedestrian in the east direction and north direction at time k and k-1 as the state quantity, and the distance between the reference node and the positioning tag at time k-1 measured by the UWB positioning tag The distance is used as a system observation to build a UWB positioning model for data fusion, which reduces the impact of the data acquisition delay caused by UWB wireless data transmission on the system positioning accuracy.

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.

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