UWB assisted inertial positioning method based on fault-tolerant decision-making tree

An inertial positioning and decision tree technology, applied in the field of personnel indoor positioning, can solve the problems of inertial navigation/UWB positioning accuracy decline, error auxiliary correction inertial navigation, gross errors, etc.

Active Publication Date: 2019-04-26
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, most scholars have not made mutual fault-tolerant judgments for combined positioning. In indoor environments with complex building structures, UWB positioning is susceptible to non-line-of-sight pro

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  • UWB assisted inertial positioning method based on fault-tolerant decision-making tree
  • UWB assisted inertial positioning method based on fault-tolerant decision-making tree
  • UWB assisted inertial positioning method based on fault-tolerant decision-making tree

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[0038] The technical solutions in the embodiments of the present invention will be described clearly and in detail below. The described embodiments are only a part of the embodiments of the present invention.

[0039] The technical solutions of the present invention to solve the above technical problems are:

[0040] The present invention provides a UWB-assisted inertial positioning method based on a fault-tolerant decision tree. Aiming at the problems of inertial navigation system errors accumulating over time and UWB positioning due to non-line-of-sight problems, multipath effects and human body effects, a gyro is proposed and adopted The instrument’s high-precision piecewise fitting error compensation model suppresses the drift of inertial navigation errors; at the same time, on the basis of UWB-assisted indoor inertial positioning of personnel, a fault-tolerant decision tree judgment model of inertial navigation and UWB single-point positioning data is constructed to eliminate ...

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Abstract

The invention discloses a UWB assisted inertial positioning method based on a fault-tolerant decision-making tree. For the non-line-of-sight problem of errors of an inertial navigation system with time accumulation and UWB positioning and the gross error problem due to a multipath effect and human body influence. A gyroscope high-precision segmented fitting error compensation model is proposed andadopted, and inertial navigation error drift is inhibited; meanwhile, based on UWB assisted personnel indoor inertial positioning, a fault-tolerant decision-making tree judgment model having the combined action of inertial navigation and UWB single-point positioning data is constructed, gross error factors of UWB positioning are eliminated, thus extended Kalman filter is applied to inertial navigation and UWB parameter differences, UWB assisted enhanced inertial navigation positioning is achieved, long-time continuous and reliable positioning can be achieved, and the method has a very strongengineering application value.

Description

technical field [0001] The invention belongs to the field of personnel indoor positioning, and in particular relates to multi-source information assisted enhanced inertial positioning. Background technique [0002] Location-based services are a key feature required in many application scenarios in modern life, and people are increasingly relying on the convenience it brings. Outdoors, GPS, Beidou, etc. have been well explored and standardized, but because their signals are easily blocked by complex indoor environments, it is impossible to achieve high-precision positioning in complex indoor environments. Therefore, the research on indoor high-precision positioning has high commercial value. [0003] The inertial navigation system uses the angular rate and acceleration of the carrier itself to measure and calculate the attitude information and relative position information in real time. It has the advantages of low cost, small size, and passive, and can effectively achieve h...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206Y02D30/70
Inventor 刘宇陈自然路永乐邸克郭俊启李瑶李俊林张旭顾洪洋方针杨勇
Owner CHONGQING UNIV OF POSTS & TELECOMM
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