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Re-crossing-point-based micro inertial navigation trajectory correction method used for indoor positioning

An indoor positioning and micro-inertial navigation technology, which is applied in directions such as navigation, navigation, mapping and navigation through speed/acceleration measurement. It can solve problems such as poor long-term positioning accuracy, and achieve the effect of easy implementation and simple principle.

Pending Publication Date: 2019-04-16
湖南云箭格纳微信息科技有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

However, this positioning method is due to the noise and inertial drift of the inertial sensor, and the positioning position is generated by integration, which will cause positioning errors to accumulate over time, and the long-term positioning accuracy is poor

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  • Re-crossing-point-based micro inertial navigation trajectory correction method used for indoor positioning
  • Re-crossing-point-based micro inertial navigation trajectory correction method used for indoor positioning
  • Re-crossing-point-based micro inertial navigation trajectory correction method used for indoor positioning

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Embodiment Construction

[0023] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] Such as figure 1 As shown, the present invention provides a method for correcting the trajectory of the micro-inertial navigation system based on heavy passing points for indoor positioning, including:

[0025] Step S1: Obtain the output trajectory of the micro-inertial navigation system, and mark the coordinates of all passing points;

[0026] Step S2: Pair the coordinates of the re-passed points, and create a trajectory correction pose graph;

[0027] Step S3: Optimizing the trajectory correction pose graph to obtain the corrected trajectory.

[0028] The re-pass point refers to a location point that is preset in the positioning environment (or set while walking during the positioning process), and will pass through at least twice during the positioning. Trajectory correction refers to correcting the inertial navigation po...

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Abstract

The invention discloses a re-crossing-point-based micro inertial navigation trajectory correction method used for indoor positioning. The method comprises the steps that S1 a micro inertial navigationoutput trajectory is acquired, and all passed re-crossing-point coordinates are marked; S2 the re-crossing-point coordinates are paired to create a trajectory correction pose map; and S3 the trajectory correction pose map is optimized to acquire a corrected trajectory. After the optimization is completed, the historical trajectory and current position of inertial navigation can be corrected according to the optimization result. The method provided by the invention has the advantages of simple principle, easy realization, high positioning accuracy and the like.

Description

technical field [0001] The present invention mainly relates to the technical field of indoor positioning, in particular to a micro-inertial navigation trajectory correction method based on heavy passing points for indoor positioning. Background technique [0002] With the development of modern electronic information technology, human production and life have stepped into the information age and are advancing towards the intelligent age. It has been extended to various fields including military, transportation, production, and life. [0003] For outdoor environments, through decades of development and improvement of satellite positioning and navigation technology, positioning has been able to meet the accuracy requirements in most cases. As for indoor positioning, due to the particularity of its environment, it is very difficult to accurately obtain the position, and it is currently in the development stage. [0004] Commonly used indoor positioning methods include: dead re...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16G01C25/00
CPCG01C21/16G01C21/206G01C25/005
Inventor 杨丛昊罗小勇闵涛胡文廖健
Owner 湖南云箭格纳微信息科技有限公司