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Indoor pedestrian navigation-oriented AHRS/UWB (attitude and heading reference system/ultra-wideband) seamless integrated navigation method

A technology for pedestrian navigation and combined navigation, which is applied in directions such as navigation, mapping and navigation, and navigation calculation tools to achieve high navigation accuracy and improve accuracy.

Active Publication Date: 2015-08-26
UNIV OF JINAN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] The purpose of the present invention is to solve the above problems, provide a kind of AHRS / UWB seamless combined navigation method for indoor pedestrian navigation, this method overcomes the defects of different degrees that a single navigation technology exists, and guarantees the seamless navigation of the whole navigation system

Method used

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  • Indoor pedestrian navigation-oriented AHRS/UWB (attitude and heading reference system/ultra-wideband) seamless integrated navigation method
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  • Indoor pedestrian navigation-oriented AHRS/UWB (attitude and heading reference system/ultra-wideband) seamless integrated navigation method

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Embodiment Construction

[0050] Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

[0051] Such as figure 1 As shown, it is used for an AHRS / UWB seamless integrated navigation system for indoor pedestrian navigation, including two parts: UWB wireless transmission module and navigation shoes. The navigation shoes include AHRS module, UWB wireless receiving module and data processing module. The AHRS module and the UWB wireless receiving module are respectively connected with the data processing module.

[0052] Such as figure 2 , 3 As shown, in an AHRS / UWB seamless integrated navigation method for indoor pedestrian navigation, local filters, master data fusion filters and artificial intelligence algorithms are used to complete the data fusion of the system. The specific steps are as follows:

[0053] 1, a kind of AHRS / UWB seamless combined navigation method facing indoor pedestrian navigation, belongs to the technical field of combined p...

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Abstract

The invention discloses an indoor pedestrian navigation-oriented AHRS / UWB (attitude and heading reference system / ultra-wideband) seamless integrated navigation method. The method comprises the following steps: dividing the overall navigation method into a training stage and a prediction stage; adopting a difference value between the position and speed information collected by an AHRS and the position and speed information collected by a UWB as observed quantity of a main data fusion filter under the condition that a UWB signal is normal, and predicting the optimal position, speed and attitude error at the current moment; once the UWB signal is unlocked, conveying the position, speed and attitude information output in the AHRS into an artificial intelligence algorithm as prediction input; through the built mapping relationship, predicting an observation vector of the unlocked main data fusion filter, and ensuring normal working of the main data fusion filter, so that seamless navigation of an overall navigation system is ensured.

Description

technical field [0001] The invention relates to the technical field of integrated positioning in complex environments, in particular to an AHRS / UWB seamless integrated navigation method for indoor pedestrian navigation. Background technique [0002] In recent years, Pedestrian Navigation (PN), as an emerging field of navigation technology application, is receiving more and more attention from scholars from all over the world, and has gradually become a research hotspot in this field. However, in indoor environments such as tunnels, large warehouses, and underground parking lots, factors such as weak external radio signals and strong electromagnetic interference will have a great impact on the accuracy, real-time performance, and robustness of target pedestrian navigation information acquisition. How to effectively integrate the limited information acquired in the indoor environment to eliminate the influence of the indoor complex environment and ensure the continuous stabili...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/206
Inventor 徐元张勇赵钦君程金张勤马超
Owner UNIV OF JINAN
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