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Anti-NLOS indoor positioning system based on UWB and IMU and positioning method thereof

An indoor positioning and positioning method technology, which is applied to services based on location information, services based on specific environments, and navigation through speed/acceleration measurement, etc. Optimum number of base stations and good versatility

Active Publication Date: 2019-12-31
NANJING UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At the same time, the error of the IMU will increase with the accumulation of time, making it difficult to independently provide high-precision navigation tasks for a long time

Method used

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  • Anti-NLOS indoor positioning system based on UWB and IMU and positioning method thereof
  • Anti-NLOS indoor positioning system based on UWB and IMU and positioning method thereof
  • Anti-NLOS indoor positioning system based on UWB and IMU and positioning method thereof

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Embodiment Construction

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

[0024] to combine figure 1 , the anti-NLOS indoor positioning system based on UWB and IMU of the present invention includes three positioning base stations (base station 0, base station 1 and base station 2) located in the same room and a positioning node arranged on the positioning target, the system according to The NLOS recognition algorithm automatically identifies occlusions. When at least one positioning base station is not blocked, the positioning node receives the UWB signal from the positioning base station to achieve positioning. The positioning node performs initialization and fusion position calculation according to the UWB positioning results, and continuously updates the position. The location information of the positioning node is obtained in real time.

[0025] to combine figure 2 , the positioning node includes a UWB tag module, an IMU mod...

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Abstract

The invention discloses an indoor high-precision positioning system based on UWB and IMU and a positioning method thereof. The indoor high-precision positioning system comprises three positioning basestations fixedly installed indoors and a positioning node installed on a positioning target. The positioning node comprises a UWB label module, an IMU module, a first MCU, a first Debug interface anda first USB interface. Each positioning base station comprises an antenna interface, a UWB chip, a second MCU, a second Debug interface and a second USB interface. According to the invention, a non-line-of-sight (NLOS) channel environment can be automatically identified in a complex indoor environment, fusion positioning of IMU and UWB is started, the positioning error caused by NLOS is reduced,and high positioning precision is achieved. The system is simple in structure, convenient to install, convenient to use, high in precision, good in anti-NLOS effect and low in cost, and can meet the positioning requirement without additional arrangement of redundant base stations.

Description

technical field [0001] The invention belongs to the field of indoor positioning / navigation, and in particular relates to a UWB and IMU-based anti-NLOS indoor positioning system and a positioning method thereof. Background technique [0002] UWB (Ultra Wideband, UWB) technology is a wireless pulse communication technology based on nanosecond to microsecond level, which transmits extremely low-power signals on a wide frequency spectrum; with ultra-high time resolution, it can obtain up to centimeter level The ranging accuracy can be obtained through the positioning algorithm with centimeter-level positioning accuracy. At present, relevant research institutions in various countries have positioned UWB technology as a high-precision positioning technology with broad market prospects, with high precision, high refresh rate, low delay, and high stability. [0003] Inertial navigation technology is a technology that uses IMU (Inertial Measurement Unit, IMU) for autonomous navigati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20H04W4/024H04W4/029H04W4/33
CPCG01C21/165G01C21/206H04W4/024H04W4/029H04W4/33
Inventor 丁垒周同朱欣华苏岩
Owner NANJING UNIV OF SCI & TECH