Ultrasonic-array auxiliary positioning method and system used for indoor navigation

Abstract

The invention provides an ultrasonic-array auxiliary positioning method and system used for indoor navigation. The method includes the following steps: S01: through an inertial navigation system, obtaining position information of a positioned subject and map information of a quasi-rectangular environment so that four predictive distance values from the center of the positioned subject to four edges of the quasi-rectangular environment are obtained; S02: according to positions of ultrasonic sensors relative to the positioned subject, a heading direction of the positioned subject and ranging values of the ultrasonic sensors, calculating four actual measurement distance values form the center of the positioned subject to the four edges of the quasi-rectangular environment; S03: comparing the actual measurement distance values with the predicative distance values, calculating absolute values of difference values and according to the sizes of the absolute values of the difference values, setting different weights of the different actual measurement distance values; S04: according to the different weights, carrying out weighted average sum on the actual measurement distance values so that a final practical distance is obtained; S05: carrying out position update on the positioned subject according to the final practical distance.

Description

Technical field [0001] The invention relates to inertial navigation and indoor positioning and navigation technologies, and in particular to an ultrasonic array assisted positioning method and system for indoor navigation. Background technique [0002] In outdoor navigation and positioning technology, satellite navigation systems, including the Global Positioning System GPS and the Beidou navigation system independently developed by my country, have been widely used and have greatly enriched people's lives. However, when in an indoor environment, the GPS signal or Beidou satellite signal that can be received is very weak, or even impossible to receive at all. This requires new methods of indoor navigation and positioning. [0003] The current indoor navigation methods are mainly divided into two types, one is based on beacon positioning, and the other is based on inertial device positioning. The method based on beacon positioning, that is, a certain number of fixed-position beacon...

AI Technical Summary

Problems solved by technology

[0005] (1). Beacons need to be deployed in the environment in advance, and the cost is high;

[0006] (2). In the event of a disaster, the beacon is likely to be destroyed, making indoor positioning and navigation impossible under this condition

Although inertial navigation has many advantages above, this navigation method also has its own shortcomings. The biggest disadvantage is that the navigation accuracy is low for a long time

Because the error of the inertial device is accumulative, after a certain period of time, the navigation positioning error will increase rapidly

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