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Inertial acceleration indoor localization error calibration method based on ultrasound localization technology

An indoor positioning and error calibration technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of inertial positioning accumulation errors and inability to accurately locate for a long time, and achieve the effect of eliminating accumulated errors and outstanding anti-interference ability

Inactive Publication Date: 2017-06-30
ANHUI UNIVERSITY
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Problems solved by technology

[0005] The purpose of the present invention is to solve the defect that the accumulative inertial positioning error in the prior art causes it to be unable to accurately locate for a long time, and to provide an inertial acceleration indoor positioning error calibration method based on ultrasonic positioning technology to solve the above problems

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  • Inertial acceleration indoor localization error calibration method based on ultrasound localization technology
  • Inertial acceleration indoor localization error calibration method based on ultrasound localization technology
  • Inertial acceleration indoor localization error calibration method based on ultrasound localization technology

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Embodiment Construction

[0042] In order to have a further understanding and understanding of the structural features of the present invention and the achieved effects, the preferred embodiments and accompanying drawings are used for a detailed description, as follows:

[0043] A kind of inertial acceleration indoor positioning error calibration method based on ultrasonic positioning technology according to the present invention, such as figure 2 and image 3 As shown, an inertial positioning system 2 and an ultrasonic receiving module 7 are installed on the car body 1, and the inertial positioning system 2 utilizes traditional inertial sensor positioning technology for positioning. The inertial positioning system 2 includes an inertial sensor 4 and an MCU5. The data output terminal of the inertial sensor 4 is connected to the data input terminal of the MCU5. The acceleration information obtained by the inertial sensor 4 is transmitted to the MCU5. The location information calculates the current loc...

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Abstract

The invention relates to an inertial acceleration indoor localization error calibration method based on the ultrasound localization technology. In comparison with the prior art, the defect that long-time accurate localization cannot be achieved due to inertial acceleration accumulative errors is solved in the invention. The method of the invention comprises the following steps: obtaining of inertial acceleration localization coordinate; obtaining of ultrasound localization coordinate; comparison between the inertial acceleration location information and ultrasound localization information; and calibration of the inertial acceleration location information. By the utilization of directivity of ultrasound and through the mode of updating reference point at any time, accumulative errors generated by inertial localization are thoroughly eliminated, and then an inertial localization system can continuously maintain high-precision localization for a long time.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to an inertial acceleration indoor positioning error calibration method based on ultrasonic positioning technology. Background technique [0002] Indoor positioning is different from outdoor positioning. Compared with the vast outdoors, the indoor environment has many and complex obstacles. It requires higher precision but limited coverage. At present, indoor positioning technology can be divided into two categories: one is positioning using electromagnetic signals, such as WiFi, ultra-wideband, radio frequency and other positioning methods; the other is inertial positioning using inertial sensors. Compared with the positioning method that relies on electromagnetic signals, inertial positioning has low hardware requirements and is easy to implement. Its accuracy mainly depends on the accuracy of the inertial acceleration sensor and is not affected by the environment. [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 黄林生刘童金黄锦阳刘瑜宋康元健杨炳旺
Owner ANHUI UNIVERSITY
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