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A Trajectory Constraint Method Based on UWB 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 insufficient data processing of abnormal points, large trajectory jumps, and low smoothness

Active Publication Date: 2021-09-14
NANJING UNIV +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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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  • A Trajectory Constraint Method Based on UWB Real-time Positioning
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  • A Trajectory Constraint Method Based on UWB 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 present invention provides a trajectory constraint method based on ultra-wideband real-time positioning, comprising: step 1, sampling a road straight line or curve; step 2, dividing the curve to select points; step 3, dividing the area into blocks; step 4, creating a buffer according to road intersections Step 5, the ultra-wideband solution module calculates the coordinates of the positioning point and other related information; Step 6, preprocessing of the positioning coordinates; Step 7, select the M area with the nearest positioning coordinates; Step 8, take the road closest to the positioning coordinates Step 9, generate a new positioning point according to the buffer strategy; Step 10, perform Kalman filter processing on the new positioning point to output the position. The invention effectively constrains the positioning point, improves the smoothness of the trajectory, adds processing of abnormal data, and especially performs special processing on the road intersection, which effectively reduces the misjudgment of the road at the positioning point, and greatly reduces the The phenomenon of trajectory pulling.

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