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An indoor and outdoor integrated positioning and navigation method and system thereof

A positioning and navigation, indoor and outdoor technology, applied in the indoor and outdoor integrated positioning and navigation method and its system field, can solve the problems of increased positioning error, sensor error, cumulative error, etc., to reduce the amount of calculation, reduce the phenomenon of corner cutting, Avoid the effects of the ping-pong effect

Active Publication Date: 2021-04-30
CHENGDU LINGQI SPACE SOFTWARE +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the error of the sensor, this technology will cause the cumulative error in the positioning process, and the positioning error will increase with the growth of time, so it needs to be integrated with Bluetooth positioning to eliminate the cumulative error

Method used

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  • An indoor and outdoor integrated positioning and navigation method and system thereof
  • An indoor and outdoor integrated positioning and navigation method and system thereof
  • An indoor and outdoor integrated positioning and navigation method and system thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0075] An indoor and outdoor integrated positioning and navigation method, comprising the following steps:

[0076] Step 1: After obtaining GPS, Bluetooth and inertial positioning data, use the positioning data to perform initial positioning;

[0077] Step 2: The positioning data after the initial positioning is adaptively weighted, Kalman filter and based on distance correction to complete the positioning calculation, and obtain the final positioning point;

[0078] Step 3: divide the navigation line into point sets to obtain reference points for projection calculation, and use the sliding window and curve geometric projection to project the final positioning point to the reference point on the navigation line to obtain the projection point;

[0079] Step 4: Use the projected points for navigation and map display.

[0080] Described step 1 comprises the following steps:

[0081] Step 1.1: Obtain GPS, Bluetooth and inertial positioning data, the GPS positioning data includes...

Embodiment 2

[0166] Based on the method of Embodiment 1, a system is provided, the system includes a processor, a memory, and a computer program stored in the memory and operable on the processor "Step 1: Acquiring GPS, Bluetooth and inertial positioning data Finally, use the positioning data for initial positioning; step 2: perform adaptive weighting, Kalman filtering, and distance correction based on the positioning data after the initial positioning to complete positioning calculations to obtain the final positioning point; step 3: point the navigation line The reference point for projection calculation is obtained by set division, and the final positioning point is projected to the reference point on the navigation line by using the sliding window and curve geometric projection to obtain the projection point; step 4: use the projection point for navigation and map display. ”, the computer program can be divided into one or more modules / units, and the one or more modules / units are stored...

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Abstract

The invention discloses an indoor and outdoor integrated positioning and navigation method and its system, which relate to the field of positioning fusion; the method includes step 1: acquiring GPS, Bluetooth and inertial positioning data; step 2: positioning data through adaptive weighting and Kalman filtering and complete the positioning calculation based on distance correction to obtain the final positioning point; step 3: divide the navigation line into a point set to obtain the reference point for projection calculation, and use the sliding window and curve geometric projection to project the final positioning point onto the navigation line The reference point to obtain the projection point; step 4: use the projection point for navigation and map display. The present invention adopts adaptive weighting and Kalman filter model to obtain smooth positioning results, corrects the results based on distance, obtains stable and accurate positioning, and overcomes the calculation amount caused by the fusion of inertial positioning, Bluetooth positioning and GPS positioning. Difficulties in real-time and stability, to achieve smooth indoor and outdoor integrated positioning and navigation.

Description

technical field [0001] The invention relates to the field of positioning fusion, in particular to an indoor and outdoor integrated positioning and navigation method and system thereof. Background technique [0002] With the rapid development of GPS positioning, a series of LBS-based services are increasing and becoming more mature, such as traffic navigation and location presentation. However, when indoors, the GPS signal is severely interfered, and accurate indoor positioning cannot be achieved, and the demand for indoor positioning is increasing day by day, such as shopping guides in indoor shopping malls, indoor parking guidance, hospital guidance, etc. [0003] Indoor positioning mostly relies on several sensors for positioning, such as WIFI, Bluetooth, infrared, geomagnetism, etc. However, due to the complex indoor environment and many obstacles, the positioning accuracy based on wireless sensors is greatly affected by the environment, and the positioning accuracy is u...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S19/46G01S19/47G06F17/10
CPCG01C21/165G01S19/46G01S19/47G06F17/10
Inventor 熊运余何梦园袁钰涵刘辉
Owner CHENGDU LINGQI SPACE SOFTWARE
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