Navigation method and mobile terminal based on uwb positioning and image feature matching
A navigation method and image feature technology, applied in the field of vehicle safety, can solve the problems of poor accuracy, lack of attitude information, poor accuracy, etc., to achieve the effects of improving accuracy, meeting real-time performance and accuracy, and reducing errors
Active Publication Date: 2022-05-17
SHENZHEN REEMAN INTELLIGENT EQUIP CO LTD
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Problems solved by technology
[0006] 2. Wi-Fi positioning, Bluetooth positioning, uwb wireless positioning: can obtain absolute position, but there is no attitude information, the accuracy is poor and unstable, and will be affected by obstacles and electromagnetic environments, such as passing through walls or metal objects Or the accuracy becomes poor when the surrounding electromagnetic environment is complex
Save the map in advance and use the feature points in the map for matching and positioning to obtain accurate poses, but the amount of calculation is large, it is difficult to obtain poses in real time, and multiple matches will be obtained when encountering similar scenes result
[0008] The above solutions have their own advantages and disadvantages, but currently there are few navigation and positioning solutions that can learn from each other's strengths and take into account the cost performance. The market demand in this field has not been met.
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[0054] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0055]Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof. It will be underst...
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The present invention provides a navigation method based on UWB positioning and image feature matching and a mobile terminal, including: acquiring positioning information at the current location and a matching navigation route, and simultaneously acquiring and mapping the positioning information according to a preset map mapped to the positioning information navigation route; obtain the current first pose information of the mobile terminal, and obtain the UWB positioning information in the current position state of the mobile terminal; judge whether the difference between the first pose information and the UWB positioning information exceeds the preset threshold; Preset the threshold, re-locate, and reacquire the navigation route, so that after the mobile terminal moves according to the new navigation route, the distance between the calculated first pose information and the actual position of the mobile terminal itself is within the preset threshold. The invention compares the positioning result with the actual position, which is convenient for finding errors in time and adjusting in time; builds a preset map, and compares it with the preset map during actual movement, so as to achieve the purpose of avoiding obstacles in three-dimensional space.
Description
technical field [0001] The present invention relates to the field of vehicle safety, in particular, the present invention relates to a navigation method and device based on UWB positioning and image feature matching. Background technique [0002] In the navigation process of mobile robots, localization and navigation are both important. If the positioning deviation is large, it will cause the robot to navigate randomly or even fail to navigate. Therefore, navigation is very dependent on positioning, and the requirements for positioning accuracy are relatively high. At the same time, the quality of the navigation algorithm is also directly related to the gait of the robot. [0003] The current outdoor positioning technology is mainly satellite positioning (such as: gps), and mobile phone base station positioning. However, the indoor satellite signal is too weak, and the accuracy is not enough, it is basically impossible to locate, and the positioning error of the mobile pho...
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IPC IPC(8): G01C21/28G01C21/20G01C21/00
CPCG01C21/005G01C21/20G01C21/28
Inventor 高子庆
Owner SHENZHEN REEMAN INTELLIGENT EQUIP CO LTD