Unlock instant, AI-driven research and patent intelligence for your innovation.

Indoor and outdoor seamless positioning method based on gnss/ins/uwb combination

A combined positioning and seamless positioning 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 continuous navigation solutions

Active Publication Date: 2021-09-21
BEIJING JIAOTONG UNIV
View PDF11 Cites 0 Cited by
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Indoor and outdoor seamless positioning method based on gnss/ins/uwb combination
  • Indoor and outdoor seamless positioning method based on gnss/ins/uwb combination
  • Indoor and outdoor seamless positioning method based on gnss/ins/uwb combination

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0048] Embodiments of the present invention will be described in detail below, and examples of the embodiments are illustrated in the drawings, in which the same or similar reference numerals are indicated by the same or similar elements or elements having the same or similar functions. The following is exemplary, and is intended to be illustrative of the invention, without explanation of the limitation of the invention.

[0049] Those skilled in the art will appreciate that unless specifically declared, the singular forms, "one", "" ",", ", and" "", can include plural form. It should be further understood that the phrase "comprising" in the specification of the present invention means that there is the features, integers, steps, operations, components, and / or components, but do not exclude presence or addition of one or more other features. Integer, steps, operations, components, components, and / or groups. It should be understood that when the components are "connected" or "c...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides an indoor and outdoor seamless positioning method based on GNSS / INS / UWB combination. The method includes: setting the global satellite navigation system GNSS, inertial navigation system INS and ultra-wideband system UWB at the position of the point to be measured, and calculating the position, speed and attitude information of the point to be measured by INS; The combined positioning of the points to be measured is carried out to obtain the outdoor navigation information of the points to be measured. In indoor conditions, the combined positioning of the points to be measured is carried out through UWB and INS to obtain the indoor navigation information of the points to be measured. In the present invention, the GNSS and INS combined system is used to correct the GNSS measurement value and the INS cumulative error in the outdoor environment. Indoors, UWB replaces GNSS and combines INS recursive results to solve the problem of poor indoor GNSS signal quality. The navigation method of the two positioning modes can realize seamless positioning indoors and outdoors, and provide accurate and continuous navigation solutions.

Description

Technical field [0001] The present invention relates to the field of navigation positioning techniques, and more particularly to an indoor and outdoor seamless positioning method based on GNSS / INS / UWB combination. Background technique [0002] Navigation positioning is the basic needs of human production life. Currently, GNSS (Global NavigationSatellite System, Global Navigation Satellite System) is still widely used as one of the main means of solving user positioning navigation. It can provide low-cost, high-precision three-dimensional position, speed and accuracy time, etc. However, the main disadvantages of GNSS are still obvious, and the urban environment constitutes some of the most severe challenges for GNSS. Due to the occlusion of obstacles such as tunnels, walls in the city, GNSS satellite signals will be drastically attenuated in urban environments, and even cannot be positioned. This positioning limit can be solved by the integration of the GNSS system with other ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
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