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GNSS/INS/UWB combination-based indoor and outdoor seamless positioning method

A combined positioning and point-to-be-measured technology, applied in the field of navigation and positioning, can solve problems such as result drift and GNSS signal unavailability, and achieve the effect of a continuous navigation solution

Active Publication Date: 2020-01-03
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when in an indoor environment for a long time, the GNSS signal is almost unavailable, and the result of INS running independently for a long time drifts seriously, and it is also unusable

Method used

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  • GNSS/INS/UWB combination-based indoor and outdoor seamless positioning method
  • GNSS/INS/UWB combination-based indoor and outdoor seamless positioning method
  • GNSS/INS/UWB combination-based indoor and outdoor seamless positioning method

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Embodiment Construction

[0048] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0049] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof. It will be understoo...

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Abstract

The invention provides a GNSS / INS / UWB combination-based indoor and outdoor seamless positioning method. The method comprises the steps of arranging a global navigation satellite system (GNSS), an inertial navigation system (INS) and an ultra-wideband system (UWB) at the position of a to-be-measured point; calculating position information, speed information and attitude information of the to-be-measured point through the INS, and carrying out combined positioning on the to-be-measured point through the GNSS and the INS in an outdoor case to obtain outdoor navigation information of the to-be-measured point; and carrying out combined positioning on the to-be-measured point through the UWB and the INS in an indoor case to obtain indoor navigation information of the to-be-measured point. According to the GNSS / INS / UWB combination-based indoor and outdoor seamless positioning method, a GNSS-INS combined system is used for correcting a GNSS measurement value and an INS accumulation error in anoutdoor environment; and the UWB instead of the GNSS is combined with an INS recursion result indoors, so that the problem of poor signal quality of the indoor GNSS is solved. According to a navigation method of employing two positioning modes, indoor and outdoor seamless positioning can be achieved and an accurate and continuous navigation scheme is provided.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning, in particular to an indoor and outdoor seamless positioning method based on GNSS / INS / UWB combination. Background technique [0002] Navigation and positioning are the basic needs of human production and life. At present, GNSS (Global Navigation Satellite System, Global Navigation Satellite System) is still widely used as one of the main means for solving user positioning and navigation. It can provide global users with low-cost, high-precision navigation information such as three-dimensional position, speed and precise timing for all-weather and all-time. However, major GNSS shortcomings remain evident, with urban environments posing some of the toughest challenges to GNSS. Due to the obstruction of obstacles such as tunnels and walls in the city, the GNSS satellite signal will be sharply attenuated in the urban environment, and it may even be impossible to locate. This posi...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/18G01S19/40G01S19/47H04W64/00
CPCG01C21/165G01C21/18G01S19/40G01S19/47H04W64/006
Inventor 姜维曹琢健蔡伯根王剑上官伟刘江陆德彪柴琳果
Owner BEIJING JIAOTONG UNIV