Indoor pedestrian positioning EFIR data fusion system and method with observation time lag
A technology of data fusion and data processing system, which is applied in the field of combined positioning in complex environments, and can solve problems such as loss of lock and decreased positioning accuracy.
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[0047] The present invention is described in detail below in conjunction with accompanying drawing:
[0048] An indoor pedestrian positioning system with observation delay, such as figure 1As shown, it includes: UWB target node, UWB reference node and data processing system; the UWB target node is fixed on the pedestrian's body, the UWB reference node is set at any position, and the UWB target node is connected to the data processing system.
[0049] in,
[0050] UWB target node: used to measure the distance information between the UWB positioning tag and the UWB reference node;
[0051] UWB reference node: pre-placed at the set position, easy to measure and locate the distance between the tags;
[0052] Data processing system: used for data fusion of collected sensor data;
[0053] The data processing system includes an EFIR filter, which performs data fusion on the distance information obtained by the UWB target node and the UWB reference node through the EFIR filter, and...
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