An indoor positioning system and positioning method utilizing acoustic signal and inertial navigation fusion
An inertial navigation and indoor positioning technology, applied in the field of location-based services, can solve the problems of cumulative positioning errors, lack of positioning information, positioning errors, etc., and achieve the effect of making up for serious errors and meeting positioning needs
Active Publication Date: 2021-05-04
ZHEJIANG UNIV
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Problems solved by technology
Among them, inertial navigation positioning can realize real-time update of position information, and is less affected by the external environment. However, its initial position needs to be manually set, and there is a cumulative error in positioning. As the distance traveled by the user increases, the positioning accuracy decreases. , correct its position by fusing other methods
Acoustic signal positioning has high positioning accuracy, the accuracy can reach the decimeter level, and there is no cumulative error. However, it has defects such as being easily affected by occlusion in complex environments, resulting in large positioning errors or missing positioning information.
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[0036] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail with reference to the accompanying drawings. This description presents, by way of illustration and not limitation, specific embodiments consistent with the principles of the invention in sufficient detail to enable those skilled in the art to practice the invention without departing from this disclosure. Other embodiments may be utilized and the structure of elements may be changed and / or substituted within the scope and spirit of the invention. Accordingly, the following detailed description should not be read in a limiting sense. The local area network here is described by taking a wireless local area network (WLAN) as an example.
[0037] An indoor positioning system that uses the fusion of acoustic signals and inertial navigation, such as figure 1 As shown, including beacon nodes, servers, WLAN and user intellig...
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The invention discloses an indoor positioning system and a positioning method utilizing the fusion of acoustic signals and inertial navigation. The system includes an intelligent mobile terminal, a beacon node, a local area network and a server. The positioning method is divided into acoustic signal positioning and inertial navigation positioning, wherein the acoustic signal The positioning is to obtain the positioning information of the acoustic signal through the time difference of arrival algorithm, and the positioning of the inertial navigation is to obtain the positioning information of the inertial navigation through the accelerometer, gyroscope and electronic compass of the smart mobile terminal, and to combine the positioning information of the acoustic signal with the asynchronous information fusion algorithm. Inertial navigation and positioning information is used for data fusion, and then accurate navigation and positioning results are output. The present invention integrates acoustic signal positioning and inertial navigation positioning to achieve complementary advantages. On the one hand, the acoustic signal positioning eliminates the cumulative error of inertial navigation positioning, and on the other hand, it makes up for the serious error of positioning information caused by acoustic signal positioning due to occlusion. Defects, high positioning accuracy, better meet user positioning needs.
Description
technical field [0001] The invention belongs to the field of location-based service (Location Based Service, LBS), and in particular relates to an indoor positioning system and a positioning method utilizing acoustic signal and inertial navigation fusion. Background technique [0002] With the rapid development of mobile communication technology, LBS is more and more favored by people. LBS widely supports applications related to geospatial information, such as information query, emergency service, road navigation, asset management, personnel tracking, positioning advertisement, etc., which brings great convenience to people's production and life. Due to different technical solutions and application scenarios, location-based service technology can be divided into outdoor positioning technology and indoor positioning technology: In outdoor environments, Global Positioning System (GPS) is widely used in military and civilian fields, and can be used as required Accurate real-ti...
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IPC IPC(8): G01C21/20G01C21/18G01C21/16G01S5/22G01C21/08G01C21/00
CPCG01C21/005G01C21/08G01C21/165G01C21/18G01C21/206G01S5/22
Inventor 王智黄逸帆张磊李贵楠林峰
Owner ZHEJIANG UNIV