TDOA (Time difference of Arrival)-IMU (Inertial Measurement Unit) data adaptive fusion positioning device and method

Abstract

The invention discloses a TDOA (Time difference of Arrival)-IMU (Inertial Measurement Unit) data adaptive fusion positioning device and method. The device comprises an inertial measurement unit used for acquiring components of the speed and the acceleration of a measured object relative to a geographic coordinate system; a TDOA positioning system used for preliminarily positioning the measured object so as to obtain position information of the measured object; an adaptive Kalman filter used for filtering a TDOA positioning system according to an adaptive Kalman algorithm, and correcting the position information acquired by the TDOA positioning system; a long short-term memory neural network unit used for predicting the position of the measured object according to a long short-term memory neural network model; and an accurate position determination module used for carrying out weighted averaging on the position information corrected by the adaptive Kalman filter and the position information predicted by the long short-term memory neural network unit, and an average value is a positioning result. The TDOA-IMU data adaptive fusion positioning device and the method provided by the invention can improve the positioning accuracy.

Description

technical field [0001] The invention relates to the technical field of wireless communication, in particular to a TDOA-IMU data self-adaptive fusion positioning device and method. Background technique [0002] In recent years, with the continuous development of positioning technology, location-based services (Location Based Service, LBS) have received more and more attention. foundation and support. For example, intelligent warehousing and intelligent transportation in the field of the Internet of Things; somatosensory games and human-computer interaction in the field of virtual reality; navigation services and data statistics in the field of mobile terminals, etc., all of which put the acquisition and perception of LBS as essential links, presenting broad commercial prospects and huge market value. In the development of modern science and technology, LBS services such as information query services such as eating, drinking, and entertainment, and accidental location positi...

AI Technical Summary

Problems solved by technology

[0003] The inventor found in the process of realizing the present invention that the Kalman filter and the extended Kalman filter algorithm used in the combined positioning algorithm of TDOA and IMU in the prior art all assume that the noise of the positioning system obeys a Gaussian distribution with zero mean value, but In real life, the noise of the research system is constantly changing due to the up and down jitter during the movement of the measurement personnel and the change of the noise of the measurement equipment itself.

Therefore, using existing methods for positioning, the positioning accuracy is not high

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