UWB location method, device and system based on micro inertial navigation

Abstract

The present invention relates to the technical field of wireless location, especially to a UWB (Ultra-Wide-Band) location method based on micro inertial navigation. The method comprises the steps of:obtaining micro inertial navigation location data; obtaining UWB location data; calculating coordinate transformation parameters of the micro inertial navigation coordinate system being switched to aUWB coordinate system; performing coordinate transformation of the UWB location data to obtain position data of the micro inertial navigation location data in the UWB coordinate system; determining whether there are UWB communication signals or not; if yes, performing coordinate fusion of the UWB location data and Z-axis coordinates of the micro inertial navigation coordinate system to output fusion location information in the UWB coordinate system and obtain micro inertial navigation correction parameters; otherwise, calculating and outputting the micro inertial navigation location data in the UWB coordinate system according to the micro inertial navigation correction parameters obtained through calculation at the last time. The present invention further discloses a UWB location device and system based on micro inertial navigation. The method provided by the invention solves the problem that the UWB location coverage signals cannot perform location in a blind area condition so as to improve the location precision.

Description

technical field [0001] The present invention relates to the technical field of wireless positioning, in particular to a UWB positioning method based on micro-inertial navigation, a UWB positioning device based on micro-inertial navigation, and UWB positioning based on micro-inertial navigation including the UWB positioning device based on micro-inertial navigation system. Background technique [0002] At present, in the production of chemical plants, the positioning of staff is already a major focus of personnel safety management. There are more and more demands for the whole factory area and multi-space positioning. The traditional management and operation methods are facing more and more challenges. In the future, the demand for the development of unmanned and less-manned industries is to informatize and intelligentize the management of hazardous chemical equipment, and to reduce the number of inspection personnel. Another priority is to facilitate safe production, which...

AI Technical Summary

Problems solved by technology

[0004] At present, the UWB positioning system established in the chemical plant environment can effectively solve the personnel positioning needs, but there are some defects. In the 3D platform, the UWB positioning has a relatively large gap with the deployment of the base station, and the current environment cannot meet the deployment requirements. The altitude information of the positioning personnel cannot accurately reflect

Generally, it needs to be judged by setting base station layers, and the intermediate process cannot be displayed in real time

Generally, there is no UWB base station coverage between two UWB positioning areas, and the trajectory of people cannot be located

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