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Track constraint method based on ultra-wideband real-time positioning

A real-time positioning and ultra-broadband technology, applied in the direction of location information-based services, services based on specific environments, etc., can solve the problems of poor real-time performance of positioning points, low smoothness, poor track data processing and display effects, etc.

Active Publication Date: 2021-03-12
NANJING UNIV +1
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0006] Although the current indoor positioning system can locate the positioning point more accurately, in practical applications, there are still poor real-time trajectory of the positioning point, large trajectory jumps, insufficient processing of abnormal point data, and processing of trajectory data for fixed routes. Poor display, low smoothness, and heavy pulling near road intersections

Method used

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  • Track constraint method based on ultra-wideband real-time positioning
  • Track constraint method based on ultra-wideband real-time positioning
  • Track constraint method based on ultra-wideband real-time positioning

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Embodiment Construction

[0062] figure 1 It is an operation flowchart of a trajectory constraint method based on ultra-wideband real-time positioning in the present invention, including 10 steps.

[0063] Step 1, the road route is sampled, and the road route includes straight lines and curves, and the collection of all straight lines and curves after sampling is denoted as R;

[0064] Step 2: Segment all the curves in the set R, and the coordinates of all curve segmentation points and the coordinates of the endpoints at both ends of the straight road form a coordinate set P;

[0065] Step 3, generate a positioning area according to the coordinate set P, divide the positioning area into blocks, and the set of blocks is B;

[0066] Step 4, taking the road intersection as the center, create a buffer zone with a radius of r, where 0.5m≤r≤1m; the purpose of creating a buffer zone is to reduce the jumping of anchor points between multiple roads and reduce the pulling phenomenon of the trajectory;

[0067]...

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Abstract

The invention provides a trajectory constraint method based on ultra-wideband real-time positioning. The method comprises the following steps: 1, sampling a road straight line or curve; 2, performingcurve segmentation and point taking; 3, performing regional partitioning; 4, creating a buffer area according to the road intersection points; 5, resolving related information such as positioning point coordinates by an ultra-wideband resolving module; 6, preprocessing the positioning coordinates; 7, selecting M areas closest to the positioning coordinates; 8, taking a point, closest to the positioning coordinate, on the road; 9, generating a new positioning point according to a buffer strategy; 10, performing Kalman filtering processing on the new positioning point so as to output the position. According to the method, the positioning points are effectively restrained, the smoothness of the track is improved, abnormal data processing is added, especially special processing is carried outon the road intersection points, misjudgment of the positioning point roads is effectively reduced, and the track pulling phenomenon is greatly reduced.

Description

technical field [0001] The invention belongs to the field of real-time positioning, and more specifically relates to a trajectory constraint method based on ultra-wideband real-time positioning. Background technique [0002] In recent years, with the continuous development of cities, the continuous expansion of indoor buildings such as shopping malls, stations, factories, etc., the scenes of indoor environments have become more and more complex, people's demand for indoor positioning has become stronger and stronger, and indoor positioning systems have become more and more popular. The factories and shopping malls are implemented and operated. With the advent of Industry 4.0, the concept of smart factories has been popularized. An important aspect of smart factories is the real-time positioning of workers to ensure production safety and optimize work processes. [0003] UWB technology is widely used in indoor positioning systems due to its high frequency, strong anti-interf...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/029H04W4/021H04W4/02H04W4/33
CPCH04W4/029H04W4/021H04W4/023H04W4/33
Inventor 周壮壮李俊申富饶
Owner NANJING UNIV
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