Neural network-based bluetooth/photoelectricity/INS integrated navigation device and method

Abstract

The invention discloses a neural network-based bluetooth / photoelectricity / INS integrated navigation device and method. The neural network-based bluetooth / photoelectricity / INS integrated navigation device comprises an integrated navigation resolving module, a sensor module, a map storage and display terminal and a power module. The method comprises the following steps: using the sensor module for collecting data of motion information and a bluetooth label of a vehicle in a tunnel and sending the data to the integrated navigation signal resolving module; resolving and fusing the collected data of the motion information and the bluetooth label of the vehicle in the tunnel and transmitting to an external terminal for displaying a vehicle position; and displaying navigation data resolved by theintegrated navigation resolving module. According to the invention, a kalman filter is adopted for fusing the data of MEMS inertial navigation, a bluetooth sensor, a photoelectric sensor and amilemeter, so that the quantity of huge distributed bluetooth label stations is effectively reduced; the label can be conveniently maintained and replaced; information, such as driving direction, position, speed and running state of the vehicle, can be continuously outputted; the reliability and timeliness of vehicle running monitoring can be promoted; and the overall positioning precision is increased.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and relates to a combined navigation device and method using bluetooth tags, photoelectric detection and inertial navigation systems. Background technique [0002] In the process of safe production in coal mines in my country, the precise positioning of underground personnel and vehicles is always one of the core contents. An excellent positioning scheme can effectively improve the management level of coal mines and the efficiency of coal mine operations. [0003] The vehicle positioning technology based on Bluetooth 4.0 is based on the latest near-field wireless communication protocol Bluetooth 4.0 protocol, which has the advantages of low cost, easy deployment, extremely low power consumption, and high real-time performance when applied in underground coal mines. However, the current Bluetooth positioning is actually a kind of regional positioning, which can only achieve a po...

AI Technical Summary

Problems solved by technology

[0006] Most of the underground vehicles currently adopt a single sensor positioning mode. The purpose of the present invention is to provide a combined navigation method suitable for underground roadways, using Bluetooth / photoelectric / INS combined navigation technology. Drift, improve the navigation accuracy of INS pure inertia in a period of time under vehicle conditions, on the other hand, through data fusion between different types of sensors, it can make up for the lack of positioning characteristics of each sensor and realize complementary advantages

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