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Positioning method and device based on multi-sensor fusion and electronic equipment

A multi-sensor fusion and positioning method technology, which is applied in the direction of measuring devices, satellite radio beacon positioning systems, instruments, etc., can solve problems such as inaccurate positioning, and achieve the effect of improving positioning accuracy, improving accuracy and stability

Active Publication Date: 2021-09-21
湖南北斗微芯产业发展有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For this reason, the present invention proposes a positioning method, device, and electronic equipment based on multi-sensor fusion, and corrects the inertial calculation results in combination with constraints, satellite positioning data, and mobile cellular positioning data, which can solve the problem of positioning errors in complex terrains. exact puzzle

Method used

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  • Positioning method and device based on multi-sensor fusion and electronic equipment
  • Positioning method and device based on multi-sensor fusion and electronic equipment
  • Positioning method and device based on multi-sensor fusion and electronic equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] refer to figure 1 and figure 2 , the embodiment of the present invention provides a positioning method based on multi-sensor fusion, comprising the following steps:

[0036] S110: Obtain an initial attitude value, and calibrate the initial attitude value;

[0037] S120: Collect inertial navigation data through the inertial motion sensor, and perform inertial calculation based on the inertial navigation data;

[0038] S130: Obtain constraint conditions, satellite positioning data, and cellular base station positioning data respectively through the installation information of the inertial motion sensor, the satellite positioning module, and the mobile communication positioning module;

[0039] S140: Construct a Kalman filter system, construct a state model of the Kalman filter system based on the inertial navigation data, and construct the Kalman filter system in combination with the constraints, the satellite positioning data, and the cellular base station positioning...

Embodiment 2

[0047] This embodiment is based on the foregoing embodiment 1, and further refines the process, including:

[0048] In this embodiment, the methods of collecting data by the inertial motion sensor, the satellite positioning module, and the mobile communication positioning module specifically include:

[0049] according to The data format is to collect inertial motion sensor information at a frequency of 100Hz, where T I Indicates the data collection timestamp, ID I Represents the data identifier, Acc I Indicates the three-axis output of the accelerometer, Gyr I Indicates the three-axis output of the gyroscope.

[0050] According to (T I ,ID I ,Sol_Status,Pos,Pos_Std,Sat_num,Sol_Age) data format to obtain satellite positioning request information at a frequency of 1Hz, where T I Indicates the satellite data collection timestamp, ID I Indicates the data identification, Sol_Status indicates the accuracy and status of the positioning solution, Pos indicates the coordinate...

Embodiment approach

[0053] Positioning and heading initialization;

[0054] The base station positioning cold start response speed is fast. The initial position range is given according to the base station positioning result. The main control module waits for the satellite positioning module to start and receive signals and perform positioning solutions. The heading initialization method is:

[0055] (1) Calculate the heading angle for the single point positioning solutions of the two frames before and after. The direction definition of the heading angle should be consistent with the direction defined in the navigation coordinate system. Optionally, the spherical sine method or the polar coordinate method may be used to determine the heading angle. In the embodiment of the present invention, the heading angle is defined as "north by west" as the positive direction of the angle.

[0056] (2) When the device is turned on and the main controller receives the data from the inertial sensor, the syste...

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Abstract

The invention discloses a positioning method and device based on multi-sensor fusion and electronic equipment, which achieves positioning tracking and management of a moving target in multiple scenes, and meets seamless switching requirements of indoor and outdoor positioning. The application objects are pedestrians or pets and livestock with high-precision positioning and tracking requirements, and a positioning function of objects such as logistics vehicle-mounted objects and the like is taken into consideration. Particularly, the short-time and short-distance positioning reliability of the positioning object in the signal blocking environment is improved by utilizing the characteristics that the inertial system does not depend on the assistance of external equipment and is quick in response. According to the method, available kinematics constraints and state constraints are utilized for a specific installation object, inertial navigation integral positioning errors and course angle errors of the specific installation object are corrected, satellite positioning information and cellular base station positioning information are collected in real time, and long-time and long-distance positioning of system equipment is achieved.

Description

technical field [0001] The invention relates to the technical field of mobile positioning, in particular to a positioning method, device and electronic equipment based on multi-sensor fusion. Background technique [0002] With the increasing improvement of Beidou industry construction and the continuous evolution of the new generation of cellular mobile network technology, Beidou location enhancement service is actively focusing on the integration and innovation of navigation and communication. At present, for the application of long-term and long-distance target tracking and positioning in outdoor environments, mobile cellular base stations are mostly used to cooperate with satellite data. The processing methods include building AGPS assistance services, sharing satellite trajectory databases through cellular base stations, and using communication base stations to forward satellite signals. Using the cellular network to establish a satellite wide-area augmentation system, e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/46G01S19/47G01S19/12G01C21/16
CPCG01S19/46G01S19/47G01S19/12G01C21/165Y02D30/70
Inventor 甘雨杨世忠周路旸
Owner 湖南北斗微芯产业发展有限公司