Fusion positioning method of dual infrared sensors with random measurement noise
A technology of infrared sensor and fusion positioning, which is applied in the direction of positioning, instruments, measuring devices, etc., to achieve the effect of effective extraction
Active Publication Date: 2020-11-27
ACAD OF MATHEMATICS & SYSTEMS SCIENCE - CHINESE ACAD OF SCI
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[0006] The technical problem solved by the invention: Aiming at the fusion positioning problem of dual infrared sensors with random measurement noise, an effective fusion method is proposed, and an evaluation method of fusion accuracy is given
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[0013] When using dual infrared sensors for indoor target positioning, since the two infrared sensors have different observation accuracy, and their relative positions to the observed target are also different, the positioning accuracy provided by each infrared sensor is also different. In order to effectively fuse the measurement information of two infrared sensors to achieve high-precision target positioning, it is necessary to study the transmission mechanism from the original random measurement noise to the positioning error of each infrared sensor, and further design a sensor fusion method based on this mechanism. In addition, due to the inevitable random measurement noise of the infrared sensor, estimation errors also exist in the fusion results, so it is also necessary to provide an evaluation method for fusion accuracy. In view of the above two problems encountered in the actual system, the present invention provides a specific fusion method for the problem of target po...
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The invention discloses a fused positioning method with dual infrared sensors measuring noise at random. The method comprises the following steps: firstly, converting angle measurement of the infraredsensors into estimation value of unit vector of a target pointed by the sensors, and providing a conduction formula from original measurement error to the vector estimation error; then, based on twopieces of vector information obtained in the previous step, estimating distance information between the two sensors and the target, and providing the conduction formula from the original measurement error to the distance estimation error; then, according to the two groups of vector and distance information, extracting the estimation value of the two target positions, and providing correlation analysis of the position information and a calculation formula of corresponding position estimation precision; and finally, based on fusion of the correlation analysis and the corresponding error estimation value obtained by the previous step, obtaining the final position information and fused error covariance matrix.
Description
technical field [0001] The invention relates to the design of a fusion method for target positioning by dual infrared sensors with random measurement noise, and the evaluation of fusion accuracy. This method provides an effective solution to the problem of indoor object localization based on infrared sensors. Background technique [0002] The measurement data of the infrared sensor are two angles that characterize the pointing relationship between the sensor and the observed target. It is a common positioning method to design the fusion method for the four angle information provided by the dual infrared sensor to obtain the position information of the target in the world coordinate system. The traditional dual-infrared sensor fusion method is: extract two sets of position measurements of the target by means of two-station ranging, and directly use the arithmetic mean of the above two sets of position measurements as the fusion result. See: 1. Chen Yun, Research on Key Tech...
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IPC IPC(8): G01S5/16G01C21/20
CPCG01C21/206G01S5/16
Inventor 薛文超张小城方海涛
Owner ACAD OF MATHEMATICS & SYSTEMS SCIENCE - CHINESE ACAD OF SCI