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High-precision indoor three-dimensional positioning method based on UWB (ultra-wideband), optical flow and inertial navigation

A technology of three-dimensional positioning and inertial navigation, which is applied in navigation, surveying and mapping and navigation, navigation computing tools, etc., can solve the problems of heavy workload, high hardware cost and construction cost, and the inability to achieve effective indoor positioning in places with signals, etc., to achieve high Positioning accuracy, reduction of base station layout and positioning effect

Inactive Publication Date: 2020-02-07
CETC CHIPS TECH GRP CO LTD
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Problems solved by technology

[0003] The current mainstream indoor positioning technology requires a large number of beacons to be placed indoors. This is a heavy workload, and the hardware cost and construction cost are relatively high. Effective indoor positioning cannot be achieved in places where signals cannot be received.

Method used

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  • High-precision indoor three-dimensional positioning method based on UWB (ultra-wideband), optical flow and inertial navigation
  • High-precision indoor three-dimensional positioning method based on UWB (ultra-wideband), optical flow and inertial navigation
  • High-precision indoor three-dimensional positioning method based on UWB (ultra-wideband), optical flow and inertial navigation

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Embodiment Construction

[0038]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0039] The present invention proposes a high-precision indoor three-dimensional positioning method based on UWB, optical flow and inertial navigation. Fusion of optical flow sensor, magnetic sensor, ultra-wideband positioning and other information to measure the speed, position, and attitude information of the carrier; the specific indoor three-dimensional positioning process includes:

[0040] The inertial sensor includes an accelerometer and a gyroscope, and ...

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Abstract

The invention relates to the technical field of indoor positioning, in particular to a high-precision indoor three-dimensional positioning method based on UWB (ultra-wideband), optical flow and inertial navigation. The method comprises the steps of performing error compensation on an accelerometer and a gyroscope to complete initial alignment; entering a navigation stage, performing navigation calculation on parameters measured by the accelerometer and the gyroscope in real time to obtain real-time speed, position and attitude information of a carrier, and constructing a measurement matrix with ultra-wideband UWB positioning information and speed information of an optical flow sensor; constructing a state equation of indoor three-dimensional positioning of the carrier, and solving the state equation according to a Kalman filtering algorithm and measurement matrixes at different moments to obtain estimated values of the state matrixes at different moments, wherein the estimated values are indoor three-dimensional positioning information of the carrier. Through the method disclosed by the invention, full-autonomous indoor navigation can be realized, the required base stations can begreatly reduced in comparison with the indoor positioning of Bluetooth beacons, and the base arrangement can be greatly reduced in comparison with pure UWB indoor positioning, and the positioning is more continuous.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a high-precision indoor three-dimensional positioning method based on UWB, optical flow and inertial navigation. Background technique [0002] The current indoor positioning technology is relatively mature based on UWB (Ultra-Wideband, UWB) ultra-wideband, iBeacon Bluetooth beacon, RFID (Radio Frequency Identification) radio frequency identification, WIFI wireless network and other technologies. [0003] The current mainstream indoor positioning technology requires a large number of beacons to be placed indoors. This is a heavy workload, and the hardware cost and construction cost are relatively high. Effective indoor positioning cannot be achieved in places where signals cannot be received. [0004] Due to the high time resolution of UWB signals, TOA (Time of Arriva, Time of Arrival Positioning) and TDOA (Time Difference of Arriva, Time Difference of Arrival Positioni...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01C21/18
CPCG01C21/206G01C21/165G01C21/18G01C21/005
Inventor 李宝林李星海王浩徐江王梅
Owner CETC CHIPS TECH GRP CO LTD
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