Multi-signal true fusion positioning calculation method, device and equipment and storage medium
A technology that integrates positioning and calculation methods, applied in satellite radio beacon positioning systems, measuring devices, instruments, etc., can solve problems such as positioning effects and poor experience, and achieve the effect of improving continuity and user experience
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Embodiment 1
[0061] Such as figure 1 , see figure 2 , which shows the implementation process of the multi-signal true fusion positioning calculation method provided by Embodiment 1 of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:
[0062] Step S101: define a duration T, define a time period sequence T with the duration T as the time period 1 , T 2 , T 3 ... T n ;
[0063] Step S102: Obtain the current time period T n Real-time data from GPS, Beacon, compass and inertial sensors at the end;
[0064] Step S103: construct the confidence model of the Beacon positioning result based on the RSSI maximum strength E of the Beacon positioning signal;
[0065] Step S104: Based on the confidence model, the GPS positioning signal, the Beacon positioning signal and its RSSI maximum strength E are fused and calculated to obtain the current time period T n The GPS and Beacon ...
Embodiment 2
[0103] image 3 It shows a schematic structural diagram of the multi-signal true fusion positioning calculation device provided by the embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown, including:
[0104] The data acquisition module 201 is used to acquire the real-time data of GPS, Beacon, compass, accelerometer and gyroscope in the terminal device with a time period as the polling interval;
[0105] Confidence model module 202: for constructing a confidence model based on the maximum value of the RSSI strength of the Beacon positioning signal;
[0106] The dual-signal fusion positioning module 203 is used to calculate the dual-signal fusion positioning results of GPS and Beacon based on the confidence model;
[0107] The multi-signal fusion positioning module 204 is used to calculate the multi-signal fusion results of GPS, Beacon and inertial navigation based on the confidence...
Embodiment 3
[0111] Figure 4 It shows a schematic structural diagram of the multi-signal true fusion positioning computing device provided by the embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown, including:
[0112] In an embodiment of the present invention, a device is provided, including a memory 301, a processor 302, and a computer program 303 stored in the memory and operable on the processor. When the computer program is executed by the processor, the above multi-signal true The steps in the embodiment of the fusion positioning calculation method, for example, figure 1 Steps S101 to S107 are shown. Or, when the computer program is executed by the processor, the functions of each module in the above-mentioned multi-signal true fusion positioning calculation device are realized, for example, image 3 Modules 201 to 205 are shown.
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