Positioning method and system based on multi-modal fusion
A positioning method and multi-modal technology, applied in the field of positioning methods and systems based on multi-modal fusion, can solve the problems of accumulated errors, limited accuracy, high price, etc., and achieve the effect of easy layout and high-precision real-time tracking
Active Publication Date: 2021-04-30
TSINGHUA UNIV
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[0002]Traditional high-precision three-dimensional space positioning requires multiple radio frequency or video base stations for global position sensing, complex layout and high price; while relative position sensing based on IMU and other equipment The accuracy is limited, and there is a very high accumulation error
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[0039] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0040] figure 1 A schematic flow chart of the positioning method based on multimodal fusion provided by the present invention, such as figure 1 As shown, the present invention provides a positioning method based on multimodal fusion, including:
[0041] Step 101, based on the geomagnetic coordinate system, obtain a first attitude matrix of the object to be tracked in the target space.
[0...
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The invention provides a positioning method and system based on multi-modal fusion, and the method comprises the steps: obtaining a first posture matrix of a to-be-tracked object in a target space based on a geomagnetic coordinate system; obtaining a change matrix of the geomagnetic direction and the target space, and obtaining a second attitude matrix according to the first attitude matrix and the change matrix; when the surface of the to-be-tracked object is in contact with the surface of the target space, acquiring two-dimensional interaction plane reference positioning information between the to-be-tracked object and the target space according to a two-dimensional interaction plane position relationship between the to-be-tracked object and the target space, according to the two-dimensional interaction plane reference positioning information, acquiring position information and a third attitude matrix of the to-be-tracked object in the target space, performing three-dimensional positioning on the to-be-tracked object according to the position information, and performing attitude sensing on the to-be-tracked object according to the third attitude matrix. According to the invention, high-precision real-time tracking of multiple objects in an entity space is realized.
Description
technical field [0001] The present invention relates to the technical field of spatial positioning, in particular to a positioning method and system based on multimodal fusion. Background technique [0002] Traditional high-precision three-dimensional space positioning requires multiple radio frequency or video base stations for global position sensing, which is complex and expensive; while relative position sensing based on IMU and other devices has limited accuracy and extremely high accumulated errors. [0003] Therefore, there is an urgent need for a positioning method and system based on multimodal fusion to solve the above problems. Contents of the invention [0004] Aiming at the problems existing in the prior art, the present invention provides a positioning method and system based on multi-modal fusion. [0005] The present invention provides a positioning method based on multimodal fusion, including: [0006] Based on the geomagnetic coordinate system, the firs...
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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 王濛朱雅鑫孙喆徐迎庆
Owner TSINGHUA UNIV