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A multi-source auxiliary navigation method and device
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A technology of auxiliary navigation and image acquisition device, which is applied in the field of multi-source auxiliary navigation methods and devices, and can solve the problems of inability to maintain stable navigation with satellite signals.
Active Publication Date: 2022-03-11
涵涡智航科技(玉溪)有限公司
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Problems solved by technology
[0009] Aiming at the problem that the existing technology cannot maintain stable navigation during the change of satellite signal strength, the present invention provides a multi-source auxiliary navigation method
Method used
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Embodiment 1
[0065] A multi-source assisted navigation method, using data collected by at least one image acquisition device and at least one inertial sensor to calculate visual inertial navigation positioning coordinates Visual inertial navigation positioning weight W v ;
[0066] Calculating satellite inertial navigation positioning coordinates through data collected by at least one satellite signal receiving device and at least one inertial sensor Satellite inertial positioning weight W G ;
[0067] Locating coordinates through the visual inertial navigation Visual inertial navigation positioning weight W v , Satellite inertial navigation positioning coordinates Satellite inertial positioning weight W G , calculate the fusion positioning coordinates
[0068] Through map data, the fusion positioning coordinates Carry out path planning and navigation.
[0069] Locate coordinates by using visual inertial navigation Visual inertial navigation positioning weight W v , Sate...
Embodiment 2
[0111] On the basis of Embodiment 1, preferably, the auxiliary navigation method further includes: outputting route information through at least one output device; the output device is a sound generating device, a vibration generating device, a heating device, a wired communication connection port, a wireless At least one of the communication transmitters. Output navigation signals in a variety of ways to meet different navigation needs.
[0112] Preferably, through the The map data and the data collected by at least one image acquisition device are used to determine whether avoidance is required. As an alternative, the bounding box is constructed by the shape features of the person or object being navigated, and whether avoidance is needed is calculated by using collision detection and optimal path planning algorithms.
[0113] When avoidance is required, the route information is output in the following way:
[0114] When the output device is a sound generating device, a ...
Embodiment 3
[0124] A multi-source auxiliary navigation device, comprising at least one memory, at least one processor, at least one image acquisition device, at least one inertial sensor, at least one satellite signal receiving device, at least one output device, the processor runs the memory The executable program stored in, using the data acquired by at least one of the image acquisition devices, at least one of the inertial sensors, and at least one of the satellite signal receiving devices, realizes the multi-source assisted navigation method as described in the first embodiment.
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Abstract
The present invention provides a multi-source assisted navigation method, through the data collected by at least one image acquisition device and at least one inertial sensor, to calculate the visual inertial navigation positioning coordinate visual inertial navigation positioning weight W v ; By the data collected by at least one satellite signal receiving device and at least one inertial sensor, calculate the satellite inertial navigation positioning coordinate satellite inertial navigation positioning weight W G ; Through the visual inertial navigation positioning coordinates visual inertial navigation positioning weight W v , Satellite inertial positioning coordinates Satellite inertial positioning weight W G , calculating the fused positioning coordinates and performing on-the-go navigation through the map data and the fused positioning coordinates. The present invention can dynamically adjust the proportion of visual inertial navigation positioning coordinates and satellite inertial navigation positioning coordinates in the fusion positioning coordinates, thereby ensuring that the fusion positioning coordinates always maintain high accuracy during the switching process of indoor and outdoor navigation environments. The invention also provides a navigation device for realizing the multi-source auxiliary navigation method.
Description
technical field [0001] The invention relates to the field of navigation and positioning, in particular to a multi-source auxiliary navigation method and device. Background technique [0002] The current navigation system is no longer limited to path planning and direction guidance for vehicles and other tools. Walking navigation for pedestrians is also gradually promoted. When pedestrians walk on foot in unfamiliar scenes or environments, walking navigation can greatly avoid getting lost. occur, reducing route errors. In addition, walking navigation is also playing an increasingly important role in walking assistance for the blind. [0003] The scene of pedestrian navigation is not limited to the open-air scene, and the indoor scene also occupies a very important proportion. However, since the current navigation method mainly relies on satellite signals for positioning, the positioning effect in indoor scenes is poor, which greatly affects the effect of indoor pedestrian n...
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