CN111678513A - An ultra-wideband/inertial navigation tightly coupled indoor positioning device and system - Google Patents

Abstract

The invention is applicable to the field of computer technology, and in particular relates to an indoor positioning device and system with ultra-wideband/inertial navigation tight coupling. The indoor positioning method includes: respectively obtaining the object to be positioned under the ultra-wideband positioning system and the inertial navigation positioning system. According to the difference between UWB ranging information and inertial navigation ranging information, the measurement equation of the combined positioning system is constructed; the state equation of the combined positioning system is constructed; according to the extended Kalman filtering algorithm, the state equation, measurement The equation is updated to determine the positioning information of the object to be positioned under the combined positioning system. In the indoor positioning method provided by the embodiments of the present invention, an ultra-wideband/inertial navigation combined positioning system is constructed, and a measurement equation and a state equation are constructed according to the difference of the object to be located under the two positioning systems, and the extended Kalman filtering algorithm is used to detect The measurement equation and the state equation are updated and calculated, and the positioning information of the object to be positioned can be accurately obtained.

Description

An ultra-wideband/inertial navigation tightly coupled indoor positioning device and system

technical field

The invention belongs to the technical field of computers, and in particular relates to an indoor positioning device and system with ultra-wideband/inertial navigation tight coupling.

Background technique

Since the electromagnetic wave signals emitted by the Global Navigation Satellite System (GNSS) are easily isolated by buildings, indoor GNSS cannot be used normally. However, with the continuous development of the Internet of Things and smart devices, there is a huge demand for indoor positioning technology. There are many kinds of commonly used indoor positioning technologies, mainly including WIFI-based indoor positioning technology, RFID-based indoor positioning technology, Bluetooth-based indoor positioning technology, Ultra-wide Bandwidth-based UWB indoor positioning technology and inertial navigation system-based (Inertial NavigationSystem, INS) positioning technology.

Among the existing commonly used indoor positioning technologies, most of the positioning technologies, such as WIFI-based indoor positioning technology, RFID-based indoor positioning technology, and INS-based positioning technology, often have technical problems of poor positioning accuracy. Compared with the above positioning technologies, the indoor positioning technology based on UWB has been widely used due to its high positioning accuracy performance. However, the positioning accuracy of UWB-based indoor positioning technology is highly dependent on the number of positioning base stations and the location configuration during installation. When the number of base stations received by the UWB positioning tag is less than 3 due to the influence of the complex indoor occlusion environment, Accurate positioning cannot be achieved.

It can be seen that the existing indoor positioning technology still has the technical problems of being easily interfered by the indoor environment, poor robustness, and insufficient positioning accuracy.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present invention is to provide an indoor positioning method, which aims to solve the technical problems that the existing indoor positioning technology is easily interfered by the indoor environment, has poor robustness and insufficient positioning accuracy.

The embodiments of the present invention are implemented in this way, an indoor positioning method, including:

Obtain the UWB ranging information of the object to be located under the UWB positioning system;

Obtain the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system;

According to the difference between the ultra-wideband ranging information and the inertial navigation ranging information, a measurement equation of the object to be located under the ultra-wideband/inertial navigation combined positioning system is constructed;

Construct the state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and velocity information of the object to be located as the state vector;

According to the extended Kalman filtering algorithm, the state equation and the measurement equation are updated in time and measurement, and the positioning information of the object to be positioned under the combined positioning system is determined.

Another object of the embodiments of the present invention is to provide an indoor positioning device, including:

The ultra-wideband ranging unit is used to obtain the ultra-wideband ranging information of the object to be located under the ultra-wideband positioning system;

The inertial navigation ranging unit is used to obtain the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system;

A measurement equation building unit, configured to construct a measurement equation of the object to be located under the ultra-wideband/inertial navigation combined positioning system according to the difference between the ultra-wideband ranging information and the inertial navigation ranging information;

A state vector construction unit for constructing the state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and velocity information of the object to be located as the state vector;

The positioning information updating unit is configured to perform time update and measurement update on the state equation and the measurement equation according to the extended Kalman filter algorithm, and determine the positioning information of the object to be positioned under the combined positioning system.

Another object of the embodiments of the present invention is to provide a computer device, including a memory and a processor, where a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the above-mentioned execution of the computer program. The steps of the indoor positioning method.

Another object of the embodiments of the present invention is to provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the processor executes the above-mentioned execution of the computer program. Describe the steps of the indoor positioning method.

Another object of the embodiments of the present invention is to provide an indoor positioning system, including the above-mentioned indoor positioning device, an ultra-wideband positioning system, and an inertial navigation positioning system; the ultra-wideband positioning system is used to determine whether the object to be positioned is in the ultra-wideband positioning system. Ultra-wideband ranging information under the broadband positioning system; the inertial navigation and positioning system is used to determine the inertial navigation ranging information of the object to be positioned under the inertial navigation and positioning system.

In an indoor positioning method provided by an embodiment of the present invention, the ranging information of the object to be located under the ultra-wideband positioning system and the inertial navigation positioning system is obtained respectively, and then the object to be located is constructed according to the difference between the two ranging information. The measurement equation under the ultra-wideband/inertial navigation combined positioning system is constructed, and the state equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system is constructed with the position information and velocity information of the object to be positioned as the state vector, and finally According to the extended Kalman filtering algorithm, the state equation and the measurement equation are updated in time and measurement, and the positioning information of the object to be positioned under the combined positioning system is re-determined. In the indoor positioning method provided by the embodiments of the present invention, an ultra-wideband/inertial navigation combined positioning system is constructed, and a measurement equation is constructed according to the difference of the object to be positioned under the two positioning systems, and the measurement equation is calculated by using the extended Kalman filter algorithm. By updating the calculation with the state equation, the positioning information of the object to be positioned can be accurately obtained, which solves the technical problems of the existing indoor positioning technology that are easily disturbed by the indoor environment, have poor robustness and insufficient positioning accuracy.

Description of drawings

FIG. 1 is an application environment diagram of an indoor positioning method provided by an embodiment of the present invention;

2 is a flowchart of steps of an indoor positioning method provided by an embodiment of the present invention;

3 is a flowchart of steps of another indoor positioning method provided by an embodiment of the present invention;

4 is a flowchart of steps for constructing an error correction model of an ultra-wideband positioning system provided by an embodiment of the present invention;

5 is a flowchart of steps of another indoor positioning method provided by an embodiment of the present invention;

FIG. 6 is a flowchart of steps for constraining inertial navigation ranging information provided by an embodiment of the present invention;

7 is a flowchart of steps for performing zero-speed correction processing or heading angle constraint processing on inertial navigation ranging information according to an embodiment of the present invention;

8 is an experimental diagram of a positioning effect of an indoor positioning method provided by an embodiment of the present invention;

9 is a schematic structural diagram of an indoor positioning device according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a computer device that can be used to execute an indoor positioning method according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

FIG. 1 is an application environment diagram of an indoor positioning method provided by an embodiment of the present invention. In this application environment, the positioning device 120, the ultra-wideband positioning system 130, and the inertial navigation positioning system 140, which are arranged on the object 110 to be positioned, are included, which are described in detail as follows.

In the embodiment of the present invention, the UWB positioning system 130 is similar to an existing UWB positioning system, and generally includes an UWB positioning chip 131 disposed on the object to be located 110 and a plurality of UWB positioning chips disposed in an indoor environment The positioning base station 132 and the ultra-wideband positioning chip 131 send signals to a plurality of ultra-wideband positioning base stations 132, and the ultra-wideband positioning base station 132 feeds back signals to the ultra-wideband positioning chip 131 after a fixed response time interval, thereby calculating the relationship between the ultra-wideband positioning chip 131 and the ultra-wideband positioning chip 131. The distance of the ultra-wideband positioning base station 132, since the position of the ultra-wideband positioning base station 132 is fixed, the ultra-wideband positioning chip 131, that is, the positioning information of the object to be located, can be determined accordingly. Ultra-wideband ranging information under the broadband positioning system. It should be known that there is a certain error between the positioning information and the real positioning information of the object to be positioned.

In the embodiment of the present invention, the inertial navigation and positioning system 140 is similar to the inertial navigation and positioning system in the prior art, and generally includes an inertial navigation and positioning chip 141 disposed on the object 110 to be positioned, and integrated on the inertial navigation and positioning chip There are three-axis accelerometers, gyroscopes, and three-axis magnetometers, which can generate 9-dimensional data including acceleration, angular velocity, and the components of the magnetic field along the three axes of the coordinate system of the object to be positioned. According to the 9-dimensional data collected by the inertial navigation and positioning chip dimensional data, the position of the next point can be calculated from the position of the known point, so the current position of the object with positioning can be continuously measured, so as to calculate the positioning information of the object to be located, which is the positioning information in inertial navigation. Inertial navigation ranging information under the system. Obviously, there is also a certain error between the positioning information and the real positioning information of the object to be positioned.

In the embodiment of the present invention, the positioning device 120 disposed on the object to be positioned may be determined by the ultra-wideband ranging information of the object to be positioned determined by the ultra-wideband positioning system under the ultra-wideband positioning system and the inertial navigation positioning system. The inertial navigation ranging information of the object to be located under the inertial navigation and positioning system is analyzed according to the preset positioning method, and the specific positioning algorithm can refer to FIG. 2 and the content of its explanation.

As shown in FIG. 2, it is a flowchart of steps of an indoor positioning method provided by an embodiment of the present invention. The indoor positioning method is mainly applied to the positioning device 120 shown in the above-mentioned FIG. 1, and specifically includes the following steps:

Step S202, obtaining the ultra-wideband ranging information of the object to be located under the ultra-wideband positioning system.

In the embodiment of the present invention, the ultra-wideband ranging information is obtained based on an ultra-wideband positioning system. Specifically, an ultra-wideband positioning chip is arranged on the object to be located, and a plurality of ultra-wideband positioning base stations are arranged indoors. The broadband positioning chip obtains the positioning information of the object to be positioned by transmitting information with the ultra-wideband positioning base station, and the positioning information is the ultra-wideband ranging information of the object to be positioned under the ultra-wideband positioning system.

As a preferred embodiment of the present invention, by fitting and correcting the UWB ranging information, the positioning effect in a dynamic and complex environment can be further improved, the observation error can be effectively reduced, and the positioning accuracy can be further improved. For the steps of fitting and correcting the UWB ranging information obtained by the UWB positioning system, please refer to FIG. 3 and its explanation for details.

Step S204, acquiring the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system.

In the embodiment of the present invention, the inertial navigation and ranging information is obtained based on an inertial navigation and positioning system, and a specific inertial navigation and positioning system includes an inertial navigation and positioning chip arranged on the object to be positioned, which integrates a three-axis accelerometer, a gyroscope and a gyroscope. It can collect key data such as the acceleration and heading angle of the object, and can continuously measure the current position of the object with positioning, so as to calculate the positioning information of the object to be positioned. The positioning information is the inertia of the object to be positioned. Inertial navigation ranging information under the navigation and positioning system.

As a preferred embodiment of the present invention, by performing constraint processing on the inertial navigation ranging information, the positioning effect in a dynamic and complex environment can also be further improved, the observation error can be effectively reduced, and the positioning accuracy can be further improved. Wherein, for the steps of constraining the inertial navigation ranging information obtained by the inertial navigation and positioning system, please refer to FIG. 5 and its explanation for details.

Step S206, constructing a measurement equation of the object to be located under the UWB/inertial navigation combined positioning system according to the difference between the UWB ranging information and the inertial navigation ranging information.

In the embodiment of the present invention, the expression of the measurement equation is as follows:

Z _k = HX _k +ω _k

为观测向量，即待定位物体在超宽带定位系统下的超宽带测距信息与待定位物体在惯性导航定位系统下的惯性导航测距信息的差值，其中，公式中上标为INS的值表示在惯性导航定位系统下的惯性导航测距信息，上标为UWB的值表示在超宽带定位系统下的超宽带测距信息，可以看出，超宽带测距信息与惯性导航测距信息相似，都包含了待定位物体在k时刻时的位置信息(用坐标P(x，y)表示)以及速度信息(用v(x，y)表示，表示速度在x轴方向和y轴方向上的分解)，两者对应信息之间的差值即为观测向量。in,

is the observation vector, that is, the difference between the ultra-wideband ranging information of the object to be positioned under the ultra-wideband positioning system and the inertial navigation ranging information of the object to be positioned under the inertial navigation positioning system, where the superscript in the formula is the value of INS Indicates the inertial navigation ranging information under the inertial navigation and positioning system, and the value superscripted as UWB represents the ultra-wideband ranging information under the ultra-wideband positioning system. It can be seen that the UWB ranging information is similar to the inertial navigation ranging information. , both contain the position information of the object to be positioned at time k (represented by coordinates P(x, y)) and velocity information (represented by v(x, y), indicating the speed in the x-axis direction and the y-axis direction. Decomposition), the difference between the two corresponding information is the observation vector.

为观测矩阵，X_k为状态向量，具体可以参阅后续步骤S208的内容，ω_k为观测噪声向量且其协方差矩阵为R_k。in,

is the observation matrix, X _k is the state vector, for details, please refer to the content of the subsequent step S208 , ω _k is the observation noise vector and its covariance matrix is R _k .

Step S208, constructing the state equation of the ultra-wideband/inertial navigation combined positioning system.

In the embodiment of the present invention, the state equation takes the position information and velocity information of the object to be positioned as the state vector.

In the embodiment of the present invention, the state equation is specifically:

X(k+1)=FX(k)+ _wk

表示待定位物体在k时刻下的状态向量，具体是以以待定位物体的位置信息以及速度信息作为状态向量，X_k+1则为待定位物体在k+1时刻下的状态向量。in,

Represents the state vector of the object to be positioned at time k, specifically the position information and velocity information of the object to be positioned as the state vector, and X _k+1 is the state vector of the object to be positioned at time k+1.

为状态转移矩阵，w_k为过程噪声向量且协方差矩阵为Q_k。in,

is the state transition matrix, w _k is the process noise vector and the covariance matrix is Q _k .

Step S210 , performing time update and measurement update on the state equation and the measurement equation according to the extended Kalman filter algorithm, to determine the positioning information of the object to be positioned under the combined positioning system.

In the embodiment of the present invention, the positioning information of the object to be positioned can be updated by filtering, wherein the update extended Kalman filter prediction process is:

P _k,k-1 =Φ _k,k-1 P _k-1 Φ ^T _k,k-1 +Γ _k,k-1 Φ _k-1 Γ ^T _k,k-1

P _Vk =H _k P _k,k-1 H _k ^T +R _k

K _k =P _k,k-1 H _k ^T [H _k P _k,k-1 H _k ^T +λ _ii R _k ] ^-1

P _k =[IK _k H _k ]P _k,k-1

In the embodiment of the present invention, by updating the state equation and measurement equation of the object to be positioned under the combined positioning system, the positioning information of the object to be positioned under the combined positioning system can be determined.

In an indoor positioning method provided by an embodiment of the present invention, the ranging information of the object to be located under the ultra-wideband positioning system and the inertial navigation positioning system is obtained respectively, and then the object to be located is constructed according to the difference between the two ranging information. The measurement equation under the ultra-wideband/inertial navigation combined positioning system is constructed, and the state equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system is constructed with the position information and velocity information of the object to be positioned as the state vector, and finally According to the extended Kalman filtering algorithm, the state equation and the measurement equation are updated in time and measurement, and the positioning information of the object to be positioned under the combined positioning system is re-determined. In the indoor positioning method provided by the embodiments of the present invention, an ultra-wideband/inertial navigation combined positioning system is constructed, and a measurement equation is constructed according to the difference of the object to be positioned under the two positioning systems, and the measurement equation is calculated by using the extended Kalman filter algorithm. By updating the calculation with the state equation, the positioning information of the object to be positioned can be accurately obtained, which solves the technical problems of the existing indoor positioning technology that are easily disturbed by the indoor environment, have poor robustness and insufficient positioning accuracy.

As shown in FIG. 3 , it is a flowchart of steps of another indoor positioning method provided by an embodiment of the present invention, which is described in detail as follows.

In the embodiment of the present invention, another indoor positioning method provided further includes a fitting and correction process for the obtained ultra-wideband ranging information of the object to be located under the ultra-wideband positioning system, which is the same as that shown in FIG. 2 . The difference in the flow chart of the steps of an indoor positioning method is:

The step S202 specifically includes:

Step S302, obtaining the ultra-wideband ranging information of the object to be located under the ultra-wideband positioning system.

In the embodiment of the present invention, the obtained UWB ranging information refers to the ranging information obtained directly through the UWB positioning system, and has not undergone fitting and correction processing.

Step S304 , performing fitting and correction on the UWB ranging information according to the UWB positioning system error correction model to generate revised UWB ranging information.

In the embodiment of the present invention, the error correction model of the UWB positioning system is constructed in advance based on the ranging information of the known objects in the state information, wherein the UWB positioning system is constructed in advance based on the ranging information of the known objects in the state information For the process of the error correction model, please refer to Figure 4 and its explanation for details.

The step S206 is specifically:

Step S306, constructing a measurement equation of the object to be located under the UWB/inertial navigation combined positioning system according to the difference between the modified UWB ranging information and the inertial navigation ranging information.

In the embodiment of the present invention, by fitting and correcting the observed ultra-wideband ranging information, the observation error can be reduced, and the constructed range equation has higher accuracy, thereby effectively improving the subsequent positioning accuracy. ,

As shown in FIG. 4 , a flowchart of steps for constructing an error correction model of an ultra-wideband positioning system provided by an embodiment of the present invention specifically includes the following steps:

Step S402 , obtaining the ranging information of the object whose state information is known under the UWB positioning system.

Step S404: Determine the absolute error and the relative error between the ranging information and the state information.

In the embodiment of the present invention, the absolute error and the relative error are modeled and fitted by using the exponential function model by analyzing the variation law of the absolute error and the relative error of the distance measurement information of the known object under the UWB positioning system.

Step S406, modeling and fitting the absolute error and the relative error according to the exponential function model to generate an error correction model of the UWB positioning system.

c＝lna化成多项式拟合模型

此时，根据采集的一组数据点{(x_i,y_i),i＝1,2,…,n}，求得近似曲线

使得近似曲线到各数据点的偏差平方和最小时，即可确定拟合模型a,b，从而确定超宽带定位系统误差修正模型。In the embodiment of the present invention, set the error correction model of the UWB positioning system as y=ae ^bx , take the logarithm of both sides of the formula, and convert the

c=lna is transformed into a polynomial fitting model

At this time, according to a set of collected data points {(x _i , y _i ), i=1,2,...,n}, the approximate curve is obtained

When the sum of squares of deviations from the approximate curve to each data point is minimized, the fitting models a and b can be determined, thereby determining the error correction model of the UWB positioning system.

As shown in FIG. 5 , it is a flowchart of steps of another indoor positioning method provided by an embodiment of the present invention, which is described in detail as follows.

In the embodiment of the present invention, another indoor positioning method provided further includes a constraint processing process for the acquired inertial navigation ranging information of the object to be positioned under the inertial navigation and positioning system, which is the same as the one shown in FIG. 2 . The difference between the flow chart of the steps of the indoor positioning method is:

The step S204 specifically includes:

Step S502, acquiring the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system.

In the embodiment of the present invention, similarly, the acquired inertial navigation ranging information refers to the ranging information obtained directly through the inertial navigation and positioning system, without being processed by fitting constraints.

Step S504: Constrain the inertial navigation ranging information according to the multi-motion mode constraint model to generate corrected inertial navigation ranging information.

In the embodiment of the present invention, for the specific process of performing constraint processing on the inertial navigation ranging information based on the multi-motion mode constraint model, please refer to FIG. 6 and the contents of its explanation.

The step S206 is specifically:

Step S506, constructing a measurement equation of the object to be located under the UWB/inertial navigation combined positioning system according to the difference between the UWB ranging information and the corrected inertial navigation ranging information.

In the embodiment of the present invention, similarly, by performing constraint processing on the observed inertial navigation ranging information, the observation error can be reduced, and the constructed range equation has higher accuracy, thereby effectively improving the subsequent positioning accuracy.

As shown in FIG. 6 , a flowchart of steps for constraining inertial navigation ranging information provided by an embodiment of the present invention specifically includes the following steps:

Step S602, perform zero-speed detection on the object to be positioned according to the generalized likelihood ratio detection algorithm, and determine the motion state of the object to be positioned.

In this embodiment of the present invention, the motion state of the object to be positioned includes a stationary state or a non-stationary state.

In the embodiment of the present invention, the generalized likelihood ratio detection algorithm is used to perform zero-speed detection on the object to be located to determine the motion state of the object to be located, and different algorithms are used to constrain the object based on different motion states of the object to be located deal with. Among them, the zero-speed detection of the object to be positioned by the generalized likelihood ratio detection algorithm is mainly based on whether the amplitude of the accelerometer and the gyroscope is within a given threshold. The judgment basis is specifically:

分别为加速计和陀螺输出的第k个加速度向量和角速度向量，加速度计与陀螺仪观测噪声分别为σ_a,σ_ω，W为窗口长度，当T小于给定的阈值λ_G时，即认为检测到零速。In the formula,

are the kth acceleration vector and angular velocity vector output by the accelerometer and gyroscope respectively, the observation noise of the accelerometer and the gyroscope are σ _a , σ _ω , respectively, W is the window length, when T is less than the given threshold λ _G , it is considered that Zero speed detected.

Step S604: Perform zero-speed correction processing or heading angle constraint processing on the inertial navigation ranging information according to the motion state of the object to be positioned, to generate corrected inertial navigation ranging information.

In the embodiment of the present invention, according to the different motion states of the object to be positioned, zero-speed correction processing or heading angle constraint processing is used to constrain the inertial navigation ranging information. For specific steps, please refer to FIG. 7 and its explanation. .

As shown in FIG. 7 , it is a flowchart of steps for performing zero-speed correction processing or heading angle constraint processing on inertial navigation ranging information provided in an embodiment of the present invention, and details are as follows.

In the embodiment of the present invention, zero-speed correction processing or heading angle constraint processing is performed on the inertial navigation ranging information according to the motion state of the object to be positioned, and the step of generating the corrected inertial navigation ranging information specifically includes the following steps :

Step S702, when it is determined that the motion state of the object to be positioned is a static state, perform zero-speed correction processing on the inertial navigation ranging information to generate corrected inertial navigation ranging information.

In the embodiment of the present invention, the observation equation for zero-speed correction is Z ₁ =H ₁ X+w ₁

观测矩阵为H₁＝[0_3×3 I_3×3 0_3×18]。In the formula, X is the state variable of the combined system, w ₁ is zero-speed observation noise, and the observation value Z ₁ is

The observation matrix is H ₁ =[0 _3×3 I _3×3 0 _3×18 ].

Step S704, when it is determined that the motion state of the object to be positioned is a non-stationary state, carry out heading angle constraint processing on the inertial navigation ranging information to generate corrected inertial navigation ranging information.

In the embodiment of the present invention, a non-integrity constraint model is used to constrain the heading angle in the inertial navigation ranging information.

As shown in FIG. 8, it is an experimental diagram of the positioning effect of an indoor positioning method provided by an embodiment of the present invention. In order to facilitate the comparison of the difference between the indoor positioning method of the present invention and the existing indoor positioning method, The inertial navigation positioning method and the position information determined by the conventional ultra-wideband positioning method are displayed at the same time, please refer to Fig. 8 for details.

As shown in Figure 8, INS represents the trajectory diagram of the object positioning information measured by the conventional inertial navigation and positioning method, UWB represents the trajectory diagram of the object positioning information measured by the conventional ultra-wideband positioning method, and Combination indicates that the present invention provides The indoor positioning method is the trajectory diagram of the object positioning information measured by the combined positioning system, and Standard represents the trajectory diagram of the real positioning information of the object. It can be seen that the conventional inertial navigation positioning method has obvious errors when the heading angle changes, while The ultra-wideband positioning method is disturbed by the environment in some areas, and also has obvious errors. The positioning information determined by the combined positioning system has a high degree of fit relative to the real positioning information of the object, and the error is low, and it is not easily disturbed by the environment. , good stability.

As shown in FIG. 9 , it is a schematic structural diagram of an indoor positioning device according to an embodiment of the present invention, and the details are as follows.

In this embodiment of the present invention, the indoor positioning device includes:

The ultra-wideband ranging unit 910 is configured to acquire the ultra-wideband ranging information of the object to be located under the ultra-wideband positioning system.

The inertial navigation ranging unit 920 is configured to obtain the inertial navigation ranging information of the object to be positioned under the inertial navigation and positioning system.

The measurement equation construction unit 930 is configured to construct a measurement equation of the object to be located under the ultra-wideband/inertial navigation combined positioning system according to the difference between the UWB ranging information and the inertial navigation ranging information.

The state vector construction unit 940 is used for constructing the state equation of the UWB/inertial navigation combined positioning system.

The state equation takes the position information and velocity information of the object to be positioned as a state vector.

The positioning information updating unit 950 is configured to perform time update and measurement update on the state equation and the measurement equation according to the extended Kalman filter algorithm, and determine the positioning information of the object to be positioned under the combined positioning system.

An indoor positioning device provided by an embodiment of the present invention first obtains the ranging information of the object to be located under the ultra-wideband positioning system and the inertial navigation positioning system, and then constructs the object to be located according to the difference between the two ranging information. The measurement equation under the ultra-wideband/inertial navigation combined positioning system is constructed, and the state equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system is constructed with the position information and velocity information of the object to be positioned as the state vector, and finally According to the extended Kalman filtering algorithm, the state equation and the measurement equation are updated in time and measurement, and the positioning information of the object to be positioned under the combined positioning system is re-determined. The indoor positioning device provided by the embodiment of the present invention constructs an ultra-wideband/inertial navigation combined positioning system, constructs a measurement equation according to the difference between the objects to be positioned under the two positioning systems, and uses the extended Kalman filtering algorithm to quantify the measurement equation. By updating the calculation with the state equation, the positioning information of the object to be positioned can be accurately obtained, which solves the technical problems of the existing indoor positioning technology that are easily disturbed by the indoor environment, have poor robustness and insufficient positioning accuracy.

Figure 10 shows an internal structure diagram of a computer device in one embodiment. The computer equipment may specifically be the positioning device 120 in FIG. 1 . As shown in FIG. 10 , the computer equipment includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. Wherein, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system, and also stores a computer program, which, when executed by the processor, enables the processor to implement the indoor positioning method. A computer program can also be stored in the internal memory, and when the computer program is executed by the processor, the processor can execute the indoor positioning method. The display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment, or It can be an external keyboard, trackpad or mouse, etc.

Those skilled in the art can understand that the structure shown in FIG. 10 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, the indoor positioning apparatus provided by the present application can be implemented in the form of a computer program, and the computer program can be executed on the computer device as shown in FIG. 10 . The memory of the computer equipment can store various program modules that make up the indoor positioning device, for example, the ultra-wideband ranging unit, the inertial navigation ranging unit, the measurement equation building unit, the state vector building unit and the positioning information update shown in FIG. 8 . unit. The computer program constituted by each program module causes the processor to execute the steps in the method of each embodiment of the present application described in this specification.

For example, the computer equipment shown in FIG. 10 can perform step S202 through the ultra-wideband ranging unit in the indoor positioning device as shown in FIG. 9; the computer equipment can perform step S204 through the inertial navigation ranging unit; The equation building unit executes step S206; the computer device may execute step S208 through the state vector building unit; the computer device may execute step S210 through the positioning information updating unit.

In one embodiment, a computer device is proposed, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer The program implements the following steps:

Obtain the UWB ranging information of the object to be located under the UWB positioning system;

Obtain the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system;

According to the difference between the ultra-wideband ranging information and the inertial navigation ranging information, a measurement equation of the object to be located under the ultra-wideband/inertial navigation combined positioning system is constructed;

Construct the state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and velocity information of the object to be located as the state vector;

According to the extended Kalman filtering algorithm, the state equation and the measurement equation are updated in time and measurement, and the positioning information of the object to be positioned under the combined positioning system is determined.

In one embodiment, a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the processor performs the following steps:

Obtain the UWB ranging information of the object to be located under the UWB positioning system;

Obtain the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system;

According to the difference between the ultra-wideband ranging information and the inertial navigation ranging information, a measurement equation of the object to be located under the ultra-wideband/inertial navigation combined positioning system is constructed;

Construct the state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and velocity information of the object to be located as the state vector;

According to the extended Kalman filtering algorithm, the state equation and the measurement equation are updated in time and measurement, and the positioning information of the object to be positioned under the combined positioning system is determined.

It should be understood that although the steps in the flowcharts of the embodiments of the present invention are sequentially displayed in accordance with the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in each embodiment may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a phase.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium , when the program is executed, it may include the flow of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the patent of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (10)

1. an indoor positioning method, is characterized in that, comprises: Obtain the UWB ranging information of the object to be located under the UWB positioning system; Obtain the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system; According to the difference between the UWB ranging information and the inertial navigation ranging information, a measurement equation of the object to be located under the UWB/Inertial Navigation combined positioning system is constructed; Construct the state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and velocity information of the object to be located as the state vector; According to the extended Kalman filter algorithm, the state equation and the measurement equation are updated in time and measurement, and the positioning information of the object to be positioned under the combined positioning system is determined. 2. The indoor positioning method according to claim 1, wherein the step of obtaining the ultra-wideband ranging information of the object to be located under the ultra-wideband positioning system specifically comprises: Obtain the UWB ranging information of the object to be located under the UWB positioning system; Fitting and correcting the UWB ranging information according to the UWB positioning system error correction model to generate the modified UWB ranging information; the UWB positioning system error correction model is based on the state information of known objects in advance constructed from distance information; The step of constructing the measurement equation of the object to be located under the ultra-wideband/inertial navigation combined positioning system according to the difference between the ultra-wideband ranging information and the inertial navigation ranging information is specifically: According to the difference between the modified UWB ranging information and the inertial navigation ranging information, a measurement equation of the object to be located under the UWB/inertial navigation combined positioning system is constructed. 3. The indoor positioning method according to claim 2, wherein the step of constructing the error correction model of the UWB positioning system based on the ranging information of the known object in the state information in advance, specifically comprises: Obtain the ranging information of the known object under the UWB positioning system with the status information; determining an absolute error and a relative error between the ranging information and the state information; The absolute error and the relative error are modeled and fitted according to the exponential function model to generate an error correction model of the UWB positioning system. 4. The indoor positioning method according to claim 1, wherein the step of obtaining the ranging information of the object to be positioned under the inertial navigation and positioning system specifically comprises: Obtain the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system; The inertial navigation ranging information is subjected to constraint processing according to the multi-motion mode constraint model, and the corrected inertial navigation ranging information is generated; The step of constructing the measurement equation of the object to be located under the ultra-wideband/inertial navigation combined positioning system according to the difference between the ultra-wideband ranging information and the inertial navigation ranging information is specifically: According to the difference between the UWB ranging information and the corrected inertial navigation ranging information, a measurement equation of the object to be located under the UWB/inertial navigation combined positioning system is constructed. 5. The indoor positioning method according to claim 4, characterized in that, the step of performing constraint processing on the inertial navigation ranging information according to a multi-motion mode constraint model, and generating the corrected inertial navigation ranging information, Specifically include: Perform zero-speed detection on the object to be positioned according to the generalized likelihood ratio detection algorithm, and determine the motion state of the object to be positioned; According to the motion state of the object to be located, zero-speed correction processing or heading angle constraint processing is performed on the inertial navigation ranging information to generate corrected inertial navigation ranging information. 6 . The indoor positioning method according to claim 5 , wherein the motion state of the object to be located includes a stationary state or a non-stationary state; the inertial navigation detection method according to the motion state of the object to be located. The steps of performing zero-speed correction processing or heading angle constraint processing on the distance information to generate corrected inertial navigation ranging information include: When it is determined that the motion state of the object to be positioned is a static state, zero-speed correction processing is performed on the inertial navigation ranging information to generate corrected inertial navigation ranging information; When it is determined that the motion state of the object to be positioned is a non-stationary state, heading angle constraint processing is performed on the inertial navigation ranging information to generate corrected inertial navigation ranging information. 7. An indoor positioning device, characterized in that, comprising: The ultra-wideband ranging unit is used to obtain the ultra-wideband ranging information of the object to be located under the ultra-wideband positioning system; The inertial navigation ranging unit is used to obtain the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system; A measurement equation building unit, configured to construct a measurement equation of the object to be located under the ultra-wideband/inertial navigation combined positioning system according to the difference between the ultra-wideband ranging information and the inertial navigation ranging information; A state vector construction unit for constructing the state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and velocity information of the object to be located as the state vector; The positioning information updating unit is configured to perform time update and measurement update on the state equation and the measurement equation according to the extended Kalman filter algorithm, and determine the positioning information of the object to be positioned under the combined positioning system. 8. A computer device, characterized in that it comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is made to execute the programs in claims 1 to 6. The steps of the indoor positioning method according to any one of the claims. 9. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the processor is made to execute any one of claims 1 to 6. The steps of an indoor positioning method as claimed in one of the claims. 10. An indoor positioning system, characterized in that, comprising the indoor positioning device as claimed in claim 7, an ultra-wideband positioning system and an inertial navigation positioning system; the ultra-wideband positioning system is used to determine that the object to be positioned is positioned in the ultra-wideband Ultra-wideband ranging information under the system; the inertial navigation and positioning system is used to determine the inertial navigation ranging information of the object to be located under the inertial navigation and positioning system.

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