Virtual Boundary Positioning Using Dead Reckoning Fusion
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Solution Overview
Problem
Existing positioning technologies for self-moving devices face challenges in precisely determining boundaries and positions within a working region, especially when environmental interference, such as signal blockage, occurs, leading to reduced precision and increased user complexity.
Innovation Solution
A positioning apparatus and method that integrates a pedestrian dead reckoning algorithm with other positioning technologies, using a carrier with a first positioning module, sensor module, and processing module to determine positions and boundaries by combining satellite, inertial, and visual data, allowing for precise boundary establishment without physical boundaries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If satellite positioning technology or wireless positioning technology is used to establish a virtual boundary, then positioning can be achieved without physical boundaries, but positioning precision cannot be ensured when signal blockage or environmental interference occurs
Solution Approach 1:
The patent combines satellite positioning technology with inertial navigation technology (pedestrian dead reckoning algorithm) into an integrated positioning system. The satellite positioning module provides absolute position references while the inertial navigation module continuously tracks position changes through acceleration and angle measurements. This merged system ensures that when satellite signals are blocked, the inertial navigation component maintains positioning accuracy through its independent measurement capability, thus resolving the contradiction between ease of operation and positioning precision.
Solution Approach 2:
The system dynamically changes positioning parameters by switching between satellite positioning mode and inertial navigation mode based on signal quality. When satellite signals are available, the system uses satellite positioning parameters; when signals are blocked, it transitions to inertial navigation parameters. This parameter change strategy maintains positioning precision across different environmental conditions while preserving the convenience of virtual boundary establishment.
2Reliability
If pedestrian dead reckoning algorithm is used for positioning, then positioning can be maintained without external signals, but positioning precision may be affected by accumulation of errors
Solution Approach 1:
The patent implements a feedback mechanism where the satellite positioning module periodically provides absolute position corrections to the inertial navigation module. When satellite signals are available, the system compares the inertial navigation calculated position with the satellite positioning result and uses this feedback to correct accumulated errors. This feedback loop maintains high positioning precision over extended periods while preserving the reliability of continuous positioning capability.
Solution Approach 2:
The system performs preliminary calibration of the inertial navigation module using satellite positioning data before signal blockage occurs. By establishing accurate initial parameters and calibration data when signals are available, the system prepares the inertial navigation component to maintain higher precision during subsequent signal-denied periods, mitigating the accumulation of errors.
3Measurement precision
If physical boundaries are arranged to define working region, then boundary determination is straightforward, but user operation becomes complex and troublesome
Solution Approach 1:
The patent replaces the mechanical system of physical boundaries with a virtual boundary system based on positioning technology. Instead of using physical markers or barriers to define the working region, the system uses satellite positioning and inertial navigation to calculate and define virtual boundaries in the digital domain. This substitution eliminates the need for users to physically arrange boundaries while maintaining accurate boundary determination through the integrated positioning system.
Data Source
AI summary
The present disclosure relates to a positioning apparatus and method and a self-moving device. The positioning apparatus includes a first positioning module (101), a sensor module (102), and a processing module (103). The position of the positioning apparatus is determined according to the positioning result of the first positioning module (101) and the positioning result determined by using the sensor module (102) to measure the acceleration and the angle parameter and based on a pedestrian dead reckoning algorithm, and determine the boundary of the self-moving device. A pedestrian dead reckoning technology independent of an external environment is introduced during boundary positioning, and the pedestrian dead reckoning technology and other positioning technologies are integrated to establish a virtual boundary, so that positioning precision is high, and a precise boundary is established. In addition, it is not necessary to arrange a physical boundary, so that operations of a user are less complex.