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UWB/INS combined indoor positioning method based on particle filter algorithm

A particle filter algorithm and indoor positioning technology, applied in navigation calculation tools, navigation through speed/acceleration measurement, advanced technology, etc., can solve the problem of low positioning accuracy of the positioning system and achieve the effect of reducing the impact

Active Publication Date: 2020-06-09
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0006] The invention proposes a UWB / INS combined indoor positioning method based on a particle filter algorithm, with the purpose of solving the technical problem that the positioning accuracy of the positioning system is not high due to the complex non-line-of-sight environment

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  • UWB/INS combined indoor positioning method based on particle filter algorithm
  • UWB/INS combined indoor positioning method based on particle filter algorithm
  • UWB/INS combined indoor positioning method based on particle filter algorithm

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Embodiment Construction

[0035] Below in conjunction with accompanying drawing and specific implementation, the present invention is further described:

[0036] UWB / INS combined indoor positioning method based on particle filter algorithm, including:

[0037] Pre-arrange the UWB base station indoors, fix the UWB tag on the person, fix the INS sensor on the toe of the person, and then carry out the following steps:

[0038] Step 1: Obtain the distance from the person to be positioned to each reference base station through the UWB system, and calculate the east and north positions of the person through the UWB position calculation unit.

[0039] Step 2: Obtain the three-axis acceleration, three-axis angular velocity, and three-axis magnetic field strength of the person during walking through the INS system, and calculate the step length, eastward pace, and northward pace of the person through the INS calculation unit , step time and attitude angle.

[0040] Step 3: Use the eastward position and northw...

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Abstract

The invention relates to a UWB / INS combined indoor positioning method based on a particle filter algorithm. The UWB / INS combined indoor positioning method based on the particle filtering algorithm isprovided aiming at the situation that the UWB (ultra wide band) ranging result is easily interfered by a complex environment in a non-line-of-sight environment and positioning precision is influenced.A distance between a person to be positioned and each reference base station is obtained through a UWB system, and the east direction position and the north direction position of the person are calculated through a UWB position calculation unit. The three-axis acceleration, the three-axis angular velocity and the three-axis magnetic field intensity of the person in the walking process are obtained through an INS (inertial navigation system), and the step length, the east-direction step speed, the north-direction step speed, the stepping time and the attitude angle of the person in the walkingprocess are calculated through an INS resolving unit; data fusion on the UWB system calculation result and the INS system calculation result is carried out through a particle filtering algorithm; andlastly, purposes of reducing influence of a non-line-of-sight complex environment and improving positioning precision are achieved.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a UWB / INS combined indoor positioning method based on a particle filter algorithm. Background technique [0002] Today, when GPS satellite navigation and positioning technology has been developed relatively well, due to the relatively closed and complex environmental characteristics of indoor and underground environments, it is difficult for GPS technology to achieve accurate tracking and positioning indoors and underground. As a result, indoor positioning technology came into being. [0003] Among various indoor positioning schemes, most of them focus on the research on a single positioning technology. A relatively good wireless positioning technology is UWB indoor positioning technology, but UWB positioning is easily affected by the environment. If the indoor environment is empty and there is no interference from obstacles, that is, in the line-of-sight environment...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/206G01C21/165Y02D30/70
Inventor 唐普英顾灵茹刘平邓佳坤
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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