Single particle filter navigation device and method based on mems sensor and vlc positioning fusion

Abstract

The invention discloses a single-particle filtering navigation device and method based on an MEMS (Micro-electromechanical System) sensor and VLC (Visible Light Communication) positioning fusion. The single-particle filtering navigation device comprises the MEMS sensor, an INS (Inertial Navigation System) module, a VLC positioning module, a PDR (Pedestrian Dead Reckoning) positioning module and an attitude determination positioning single-particle filtering module; in the single-particle filtering navigation device, an error equation based on INS inertial navigation mechanization is used as a system equation of a fusion filter and is used for updating particles of a particle swarm. An observation equation comprises updating of VLC positioning information, updating of PDR positioning information and updating of observation quantity of a magnetometer and is used for calculating the weight of each particle. Attitude information is output to the VLC positioning module and the PDR positioning module. According to the single-particle filtering navigation device and method, disclosed by the invention, the attitude information of a VLC receiver is accurately estimated for the first time in the field of VLC positioning by utilizing fusion attitude determination, so that the problem that the VLC positioning is easily influenced by the attitude of the receiver and the positioning is not continuous under the condition that a light signal is shielded is solved and influences, caused by the attitudes, on the VLC positioning are eliminated.

Description

technical field [0001] The invention relates to an intelligent positioning device and method, in particular to a single particle filter navigation device and method based on MEMS sensor and VLC positioning fusion. Background technique [0002] With the development and application of indoor positioning technology, the indoor positioning technology based on visible light communication is also rising rapidly and has received widespread attention. In an environment with sufficient indoor light sources, the optical signals modulated by the multiplexing protocol are detected by optical sensors and other equipment, and the signal data of different light sources can be separated through signal demodulation technology, so that the positioning target relative to each light source can be calculated in combination with environmental parameters. The distance or angle information, and finally through the positioning algorithm such as trilateral positioning can complete the target position...

AI Technical Summary

Problems solved by technology

However, there are some problems in these schemes: 1) Compared with single-sensor positioning, multi-sensor combined positioning algorithms are complex and costly; Medium stability is poor

3) In the scene where the signal is frequently blocked, the target position estimated by the positioning system only through the VLC data and the filter still has a large deviation from the actual position

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