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INS/UWB pedestrian navigation system and method based on distributed combined filter

A combined filtering and pedestrian navigation technology, which is applied to navigation through speed/acceleration measurement, radio wave measurement system, navigation, etc., can solve problems such as poor system fault tolerance, unfavorable integrated navigation technology accuracy, and reduced application scope of integrated navigation models. , to achieve the effect of improving accuracy and robustness, and increasing fault tolerance.

Pending Publication Date: 2017-05-17
UNIV OF JINAN
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AI Technical Summary

Problems solved by technology

For example, UWB devices are required to provide pedestrian navigation information, which requires that the environment where the target pedestrian is located must be able to obtain at least three reference node information, which greatly reduces the application range of the integrated navigation model. The sub-technology completes the positioning independently, but also introduces new errors, which is not conducive to the improvement of the accuracy of integrated navigation technology
In order to overcome this problem, scholars proposed to apply the tight combination model to the field of indoor pedestrian navigation. The tight combination model directly applies the original sensor data of the sub-techniques involved in the combined navigation to the final navigation information calculation, reducing the sub-techniques’ self-discipline. Solve the risk of introducing new errors and improve the accuracy of integrated navigation. However, it should be pointed out that the existing compact integrated navigation models all use a centralized model. This method has poor system fault tolerance and is not conducive to increasingly accurate and complex integrated navigation. Model

Method used

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  • INS/UWB pedestrian navigation system and method based on distributed combined filter
  • INS/UWB pedestrian navigation system and method based on distributed combined filter
  • INS/UWB pedestrian navigation system and method based on distributed combined filter

Examples

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Effect test

Embodiment 1

[0063] Embodiment 1: as figure 1 as shown,

[0064] A pedestrian navigation system based on distributed combined filtering INS / UWB, including an inertial navigation device, a pseudo-range detection unit, a wireless data transmission system and a data processing system; the inertial navigation device is used to measure pedestrian navigation information, and the navigation information includes Position, speed and attitude information; pseudo-range detection unit, used to obtain pseudo-range information: wireless data transmission system, connected with inertial navigation device and pseudo-range detection unit, used to transfer the data collected by inertial navigation device and pseudo-range detection unit transmitting to the data processing system through wireless transmission, and transmitting the control command sent by the data processing system to the inertial navigation device;

[0065] Data processing system: has a distributed combined filter, the distributed combined f...

Embodiment 2

[0072] Embodiment 2: as figure 2 As shown, a pedestrian navigation method based on distributed combined filtering INS / UWB adopts the following steps:

[0073] (1) Using the error vector of the inertial navigation device and the position information of each UWB reference node as the state quantity, and the position information and pseudo-range information of the target pedestrian collected by the inertial navigation device as the system observations, construct the INS / UWB tight integrated navigation model ;

[0074] (2) According to the INS / UWB tight integrated navigation model, in the i wireless communication channel, detect the communication quality of the current communication channel, and select one of the distributed combination filters according to the communication quality of the current wireless communication channel In order to perform data fusion estimation on the collected data to obtain the current wireless communication channel and the optimal estimation of the n...

Embodiment 3

[0079] Embodiment 3: An improved INS / UWB pedestrian navigation system based on a distributed combined filter includes: an inertial navigation device INS, a UWB positioning tag, a UWB reference node and a data processing system;

[0080] The inertial navigation device INS and the UWB positioning tag are respectively set on the pedestrian's hat, the UWB reference node is set at any position, and the inertial navigation device INS and the UWB positioning tag are respectively connected to the data processing system.

[0081] Among them, the inertial navigation device INS: used to measure the navigation information such as the position, speed and attitude of pedestrians;

[0082] UWB positioning tag: used to measure the distance information between the UWB positioning tag and the reference node, that is, pseudo-range information;

[0083] UWB reference node: placed in a known position in advance, easy to measure and locate the distance between tags;

[0084] Data processing system...

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Abstract

The invention relates to an INS / UWB pedestrian navigation system and method based on distributed combined filter. The system comprises an inertial navigation device, a pseudo distance detection unit, a wireless data transmission system and a data processing system. The inertial navigation device is used for measuring pedestrian navigation information; The pseudo distance detection unit is used for obtaining the pseudo distance information; The wireless data transmission system is used for transmitting the data collected by the inertial navigation device and the pseudo distance detection unit to the data processing system through wireless transmission, and transmitting the control command from the data processing system to the inertial navigation device; The data processing system has a distributed combined filter, and chooses one of the distributed combined filters according to the current communication quality of wireless communication channel, and data fusion estimation is made to the collected data, and then the system sends the control command to the inertial navigation device. The system and method can reduce the influence of indoor complex navigation environment on the accuracy of integrated navigation, and obtain the optimal prediction of the target pedestrian navigation information.

Description

technical field [0001] The invention relates to the technical field of combined positioning in complex environments, in particular to an INS / UWB pedestrian navigation system and method based on distributed combined filtering. 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 s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02G01S5/14G01C21/16
CPCG01C21/165G01S5/0257G01S5/0294G01S5/145
Inventor 徐元程金赵钦君王滨部丽丽
Owner UNIV OF JINAN
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