Flexible shaking base autonomous positioning and orientation method based on WT-DNN-HCT

Abstract

The invention relates to a WT-DNN-HCT-based flexible shaking base autonomous positioning and orienting method, which is a method for positioning and orienting a flexible shaking base, belongs to the field of signal processing and machine learning, and is characterized by comprising the following steps: (1) determining orthogonal wavelet transform of human motion inertial data; (2) determining a wavelet coefficient after threshold processing; (3) determining a wavelet reconstruction coefficient; (4) determining a human body motion sensor model; (5) optimizing parameters of the human body motion sensor; and (6) determining a navigation reference random shaking model. According to the method, the defects that a common positioning technology is poor in penetrating power and stability and prone to being affected by the surrounding environment are overcome, the deep neural network, wavelet transformation and homogeneous coordinate transformation are combined and comprehensively applied to an underground disaster shielding space scene, and the underground space personnel can be accurately positioned and oriented. And a method with relatively high accuracy is provided for autonomous positioning and orientation of the flexible shaking base.

Description

technical field [0001] The invention relates to the fields of signal processing and machine learning, and relates to a method for autonomous positioning and orientation of a flexible shaking base. Background technique [0002] At present, the problem of personnel positioning has been solved with the development of wireless communication technology, sensor technology, big data interconnection technology, and Internet of Things technology. Common technologies based on wireless communication include Bluetooth, ultra-wideband, ultrasonic, infrared, RFID and Zigbee technologies. Bluetooth and RFID technologies are easy to receive interference from the surrounding environment and have poor stability. Zigbee technology is flexible in networking and can realize multi-hop transmission, but its transmission efficiency is low. At the same time, the positioning accuracy of this technology has high requirements for algorithms. Broadband technology has high positioning accuracy and good ...

AI Technical Summary

Problems solved by technology

Bluetooth and RFID technologies are easy to receive interference from the surrounding environment and have poor stability. Zigbee technology is flexible in networking and can realize multi-hop transmission, but its transmission efficiency is low. At the same time, the positioning accuracy of this technology has high requirements for algorithms. Broadband technology has high positioning accuracy and good security, but this technology has high power consumption, while infrared technology has low penetration ability, is easily affected by lights and smoke, high cost, and complex layout

Similarly, the attenuation of ultrasonic positioning technology in the air is large and the cost is high. Therefore, in an underground sheltered space environment, with various structures and complex environments, the realization of the above technologies has certain difficulties.

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