CN111678513A - Ultra-wideband/inertial navigation tight coupling indoor positioning device and system - Google Patents
Ultra-wideband/inertial navigation tight coupling indoor positioning device and system Download PDFInfo
- Publication number
- CN111678513A CN111678513A CN202010560928.0A CN202010560928A CN111678513A CN 111678513 A CN111678513 A CN 111678513A CN 202010560928 A CN202010560928 A CN 202010560928A CN 111678513 A CN111678513 A CN 111678513A
- Authority
- CN
- China
- Prior art keywords
- ultra
- inertial navigation
- wideband
- positioning system
- ranging information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010168 coupling process Methods 0.000 title abstract description 4
- 238000005859 coupling reaction Methods 0.000 title abstract description 4
- 230000008878 coupling Effects 0.000 title description 2
- 238000005259 measurement Methods 0.000 claims abstract description 75
- 238000000034 method Methods 0.000 claims abstract description 64
- 238000001914 filtration Methods 0.000 claims abstract description 17
- 239000013598 vector Substances 0.000 claims description 26
- 238000012937 correction Methods 0.000 claims description 24
- 238000012545 processing Methods 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 5
- 230000006870 function Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 12
- 239000011159 matrix material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention is suitable for the technical field of computers, and particularly relates to an ultra-wideband/inertial navigation tight-coupling indoor positioning device and system, wherein the indoor positioning method comprises the following steps: respectively acquiring ranging information of an object to be positioned under an ultra-wideband positioning system and under an inertial navigation positioning system; constructing a measurement equation of the combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information; constructing a state equation of the combined positioning system; and updating the state equation and the measurement equation according to the extended Kalman filtering algorithm, and determining the positioning information of the object to be positioned under the combined positioning system. According to the indoor positioning method provided by the embodiment of the invention, the ultra-wideband/inertial navigation combined positioning system is constructed, the measurement equation and the state equation are constructed according to the difference value of the object to be positioned under the two positioning systems, and the measurement equation and the state equation are updated and calculated by utilizing the extended Kalman filtering algorithm, so that the positioning information of the object to be positioned can be accurately obtained.
Description
Technical Field
The invention belongs to the technical field of computers, and particularly relates to an ultra-wideband/inertial navigation tight-coupling indoor positioning device and system.
Background
Since electromagnetic wave signals emitted by a 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 intelligent equipment, the indoor positioning technology is in great demand. Currently, a variety of indoor positioning technologies are commonly used, and mainly include an indoor positioning technology based on WIFI, an indoor positioning technology based on RFID, an indoor positioning technology based on bluetooth, an Ultra-wide Bandwidth (UWB) indoor positioning technology based on UWB, and a positioning technology based on Inertial Navigation System (INS).
In the existing common indoor positioning technologies, most of the positioning technologies, such as the WIFI-based indoor positioning technology, the RFID-based indoor positioning technology, and the INS-based positioning technology, often have the technical problem of poor positioning accuracy. Compared with the positioning technology, the indoor positioning technology based on the UWB is widely applied with the performance of high positioning precision. However, the positioning accuracy of the indoor UWB-based positioning technology is highly dependent on the number of positioning base stations and the position configuration during installation, and when the number of base stations received by the UWB positioning tag is less than 3 due to the influence of an indoor complex shielding environment, accurate positioning cannot be achieved.
Therefore, the existing indoor positioning technology has the technical problems of easy indoor environment interference, poor robustness and insufficient positioning precision.
Disclosure of Invention
The embodiment of the invention aims to provide an indoor positioning method, and aims to solve the technical problems that the existing indoor positioning technology is easily interfered by indoor environment, has poor robustness and is insufficient in positioning precision.
The embodiment of the invention is realized in such a way that an indoor positioning method comprises the following steps:
acquiring ultra-wideband ranging information of an object to be positioned under an ultra-wideband positioning system;
acquiring inertial navigation ranging information of an object to be positioned under an inertial navigation positioning system;
constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information;
constructing a state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and the speed information of an object to be positioned as a state vector;
and carrying out time updating and measurement updating on the state equation and the measurement equation according to an expanded Kalman filtering algorithm, and determining the positioning information of the object to be positioned under the combined positioning system.
Another object of an embodiment of the present invention is to provide an indoor positioning apparatus, including:
the ultra-wideband ranging unit is used for acquiring ultra-wideband ranging information of an object to be positioned under the ultra-wideband positioning system;
the inertial navigation distance measurement unit is used for acquiring inertial navigation distance measurement information of an object to be positioned under the inertial navigation positioning system;
the measurement equation building unit is used for building a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information;
the state vector construction unit is used for constructing a state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and the speed information of an object to be positioned as a state vector;
and the positioning information updating unit is used for carrying out time updating and measurement updating on the state equation and the measurement equation according to an extended Kalman filtering algorithm and determining the positioning information of the object to be positioned under the combined positioning system.
It is a further object of an embodiment of the present invention to provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the steps of the indoor positioning method as described above.
It is another object of an embodiment of the present invention to provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, causes the processor to execute the steps of the indoor positioning method as described above.
Another objective of an embodiment of the present invention is to provide an indoor positioning system, including the indoor positioning device, the ultra-wideband positioning system, and the inertial navigation positioning system as described above; the ultra-wideband positioning system is used for determining ultra-wideband ranging information of an object to be positioned under the ultra-wideband positioning system; the inertial navigation positioning system is used for determining inertial navigation ranging information of an object to be positioned under the inertial navigation positioning system.
The indoor positioning method provided by the embodiment of the invention comprises the steps of firstly respectively obtaining distance measurement information of an object to be positioned under an ultra-wideband positioning system and under an inertial navigation positioning system, then constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to a difference value of the two distance measurement information, constructing a state equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system by taking position information and speed information of the object to be positioned as state vectors, finally performing time updating and measurement updating on the state equation and the measurement equation according to an extended Kalman filtering algorithm, and re-determining the positioning information of the object to be positioned under the combined positioning system. According to the indoor positioning method provided by the embodiment of the invention, the ultra-wideband/inertial navigation combined positioning system is constructed, the measurement equation is constructed according to the difference value of the object to be positioned under the two positioning systems, the measurement equation and the state equation are updated and calculated by utilizing the extended Kalman filtering algorithm, so that the positioning information of the object to be positioned can be accurately obtained, and the technical problems of easy indoor environment interference, poor robustness and insufficient positioning precision existing in the existing indoor positioning technology are solved.
Drawings
Fig. 1 is an application environment diagram of an indoor positioning method according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating steps of an indoor positioning method according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating steps of another indoor positioning method according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps of constructing an error correction model of an ultra-wideband positioning system according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating steps of another indoor positioning method according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a procedure for performing constraint processing on inertial navigation ranging information according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating a step of performing zero-speed correction or course angle constraint on inertial navigation distance measurement information according to an embodiment of the present invention;
fig. 8 is a positioning effect experimental diagram of an indoor positioning method according to an embodiment of the present invention;
fig. 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 perform an indoor positioning method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is an application environment diagram of an indoor positioning method according to an embodiment of the present invention. In this application, the positioning device 120, the ultra-wideband positioning system 130, and the inertial navigation positioning system 140 are disposed on the object 110 to be positioned, as described in detail below.
In the embodiment of the present invention, the ultra-wideband positioning system 130 is similar to an existing ultra-wideband positioning system, and generally includes an ultra-wideband positioning chip 131 disposed on the object 110 to be positioned and a plurality of ultra-wideband positioning base stations 132 disposed in an indoor environment, where the ultra-wideband positioning chip 131 sends a signal to the plurality of ultra-wideband positioning base stations 132, and the ultra-wideband positioning base stations 132 feeds back the signal to the ultra-wideband positioning chip 131 after a fixed response time interval, so as to calculate a distance between the ultra-wideband positioning chip 131 and the ultra-wideband positioning base stations 132, and since the position of the ultra-wideband positioning base stations 132 is fixed, it is possible to correspondingly determine the positioning information of the ultra-wideband positioning chip 131, that is, the positioning information may be understood as ultra-wideband ranging information of the object to. It should be noted that there is a certain error between the positioning information and the actual positioning information of the object to be positioned.
In the embodiment of the present invention, the inertial navigation positioning system 140 is similar to the inertial navigation positioning system in the prior art, and generally includes an inertial navigation positioning chip 141 disposed on the object to be positioned 110, and a three-axis accelerometer, a gyroscope, and a three-axis magnetometer are integrally disposed on the inertial navigation positioning chip, so that 9-dimensional data including acceleration, angular velocity, and components of a magnetic field along three axes of a coordinate system of the object to be positioned can be generated together, and according to the 9-dimensional data collected by the inertial navigation positioning chip, the position of the next point can be calculated from the position of the known point, so that the current position of the object to be positioned can be continuously measured, and thus the positioning information of the object to be positioned is calculated, where the positioning information is inertial navigation ranging information under the inertial navigation positioning 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 analyze the ultra-wideband distance measurement information of the object to be positioned determined by the ultra-wideband positioning system under the ultra-wideband positioning system and the inertial navigation distance measurement information of the object to be positioned determined by the inertial navigation positioning system under the inertial navigation positioning system according to a preset positioning method, wherein a specific positioning algorithm may refer to fig. 2 and the content explained in the description thereof.
As shown in fig. 2, a flowchart of steps of an indoor positioning method according to an embodiment of the present invention is mainly applied to the positioning device 120 shown in fig. 1, and specifically includes the following steps:
step S202, ultra-wideband ranging information of the object to be positioned under the ultra-wideband positioning system is obtained.
In the embodiment of the invention, the ultra-wideband ranging information is acquired based on an ultra-wideband positioning system, specifically, an ultra-wideband positioning chip is arranged on an object to be positioned, a plurality of ultra-wideband positioning base stations are arranged indoors, the ultra-wideband positioning chip acquires the positioning information of the object to be positioned by transmitting information with the ultra-wideband positioning base stations, 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 invention, the positioning effect under the dynamic complex environment can be further improved by fitting and correcting the ultra-wideband ranging information, the observation error is effectively reduced, and the positioning precision is further improved. Please refer to fig. 3 and its explanation for the step of fitting and correcting the ultra-wideband ranging information obtained by the ultra-wideband positioning system.
And step S204, acquiring inertial navigation ranging information of the object to be positioned under the inertial navigation positioning system.
In the embodiment of the invention, the inertial navigation ranging information is acquired based on an inertial navigation positioning system, and the specific inertial navigation positioning system comprises an inertial navigation positioning chip arranged on an object to be positioned, a three-axis accelerometer, a gyroscope and a three-axis magnetometer are integrated on the inertial navigation positioning chip, so that the acceleration, course angle and other key data of the object can be acquired, and the current position of the object with positioning can be continuously measured, thereby calculating the positioning information of the object to be positioned, wherein the positioning information is the inertial navigation ranging information of the object to be positioned under the inertial navigation positioning system.
As a preferred embodiment of the invention, the inertial navigation ranging information is subjected to constraint processing, so that the positioning effect under the dynamic complex environment can be further improved, the observation error is effectively reduced, and the positioning precision is further improved. Please refer to fig. 5 and its explanation for the step of performing constraint processing on the inertial navigation distance measurement information obtained by the inertial navigation positioning system.
And S206, constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information.
In the embodiment of the present invention, the expression of the measurement equation is as follows:
Zk＝HXk+ωk
wherein,
the method comprises the steps that an observation vector is obtained, namely the difference value between the ultra-wideband distance measurement information of an object to be positioned under an ultra-wideband positioning system and the inertial navigation distance measurement information of the object to be positioned under the inertial navigation positioning system, wherein the value marked with INS in a formula represents the inertial navigation distance measurement information under the inertial navigation positioning system, and the value marked with UWB represents the ultra-wideband distance measurement information under the ultra-wideband positioning system.
Wherein,
for the observation matrix, XkFor the state vector, refer to the content, ω, of the subsequent step S208kFor observing the noise vector and having a covariance matrix of Rk。
And S208, constructing a state equation of the ultra-wideband/inertial navigation combined positioning system.
In the embodiment of the invention, the state equation takes the position information and the speed information of the object to be positioned as the state vector.
In the embodiment of the present invention, the state equation specifically includes:
X(k+1)＝FX(k)+wk
wherein,
a state vector representing the object to be positioned at the time k, specifically, X is the state vector which takes the position information and the speed information of the object to be positioned as the state vectork+1The state vector of the object to be located at the time k +1 is obtained.
Wherein,
being a state transition matrix, wkIs a process noise vector and the covariance matrix is Qk。
Step S210, performing time updating and measurement updating on the state equation and the measurement equation according to an extended Kalman filtering algorithm, and determining the positioning information of the object to be positioned under the combined positioning system.
In the embodiment of the invention, the positioning information of the object to be positioned can be updated through filtering, wherein the updating extended Kalman filtering prediction process comprises the following steps:
Pk,k-1＝Φk,k-1Pk-1ΦT k,k-1+k,k-1Φk-1 T k,k-1
PVk＝HkPk,k-1Hk T+Rk
Kk＝Pk,k-1Hk T[HkPk,k-1Hk T+λiiRk]-1
Pk＝[I-KkHk]Pk,k-1
in the embodiment of the invention, the positioning information of the object to be positioned under the combined positioning system can be determined by updating the state equation and the measurement equation of the object to be positioned under the combined positioning system.
The indoor positioning method provided by the embodiment of the invention comprises the steps of firstly respectively obtaining distance measurement information of an object to be positioned under an ultra-wideband positioning system and under an inertial navigation positioning system, then constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to a difference value of the two distance measurement information, constructing a state equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system by taking position information and speed information of the object to be positioned as state vectors, finally performing time updating and measurement updating on the state equation and the measurement equation according to an extended Kalman filtering algorithm, and re-determining the positioning information of the object to be positioned under the combined positioning system. According to the indoor positioning method provided by the embodiment of the invention, the ultra-wideband/inertial navigation combined positioning system is constructed, the measurement equation is constructed according to the difference value of the object to be positioned under the two positioning systems, the measurement equation and the state equation are updated and calculated by utilizing the extended Kalman filtering algorithm, so that the positioning information of the object to be positioned can be accurately obtained, and the technical problems of easy indoor environment interference, poor robustness and insufficient positioning precision existing in the existing indoor positioning technology are solved.
Fig. 3 is a flowchart illustrating steps of another indoor positioning method according to an embodiment of the present invention, which is described in detail below.
In the embodiment of the present invention, another provided indoor positioning method further includes a fitting correction process of the obtained ultra-wideband ranging information of the object to be positioned under the ultra-wideband positioning system, and the difference from the step flow chart of the indoor positioning method shown in fig. 2 is that:
the step S202 specifically includes:
step S302, obtaining ultra wide band ranging information of the object to be positioned under the ultra wide band positioning system.
In the embodiment of the invention, the acquired ultra-wideband ranging information refers to ranging information directly acquired by an ultra-wideband positioning system, and is not subjected to fitting correction processing.
And step S304, fitting and correcting the ultra-wideband ranging information according to the ultra-wideband positioning system error correction model to generate corrected ultra-wideband ranging information.
In the embodiment of the present invention, the ultra-wideband positioning system error correction model is constructed in advance based on the ranging information of the object whose state information is known, wherein a process of constructing the ultra-wideband positioning system error correction model in advance based on the ranging information of the object whose state information is known refers to fig. 4 and its explanation.
The step S206 specifically includes:
and S306, constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the corrected ultra-wideband ranging information and the inertial navigation ranging information.
In the embodiment of the invention, the observation error can be reduced by fitting and correcting the ultra-wideband ranging information obtained by observation, and the constructed range equation has higher precision, thereby effectively improving the subsequent positioning precision. ,
as shown in fig. 4, a flowchart of steps for constructing an error correction model of an ultra-wideband positioning system according to an embodiment of the present invention specifically includes the following steps:
step S402, obtaining the ranging information of the object with known state information under the ultra-wideband positioning system.
Step S404, determining an absolute error and a relative error between the ranging information and the status information.
In the embodiment of the invention, the absolute error and the relative error are modeled and fitted by using an exponential function model through analyzing the change rule of the absolute error and the relative error of the distance measurement information of the known object under the ultra-wideband positioning system.
And S406, modeling and fitting the absolute error and the relative error according to an exponential function model to generate an ultra-wideband positioning system error correction model.
In the embodiment of the invention, an ultra-wideband positioning system error correction model is set as y ═ aebxTaking logarithm of two sides in the formula, and converting
c-lna formation polynomial fitting model
At this time, a set of data points { (x) is collectedi,yi) I is 1,2, …, n, and an approximation curve is obtained
When the deviation square sum from the approximate curve to each data point is minimum, the fitting models a and b can be determined, and therefore the ultra-wideband positioning system error correction model is determined.
Fig. 5 is a flowchart illustrating steps of another indoor positioning method according to an embodiment of the present invention, which is described in detail below.
In the embodiment of the present invention, the provided further indoor positioning method further includes a constraint processing procedure for the acquired inertial navigation ranging information of the object to be positioned under the inertial navigation positioning system, and the difference from the step flow chart of the indoor positioning method shown in fig. 2 is that:
the step S204 specifically includes:
step S502, obtaining inertial navigation ranging information of the object to be positioned under the inertial navigation positioning system.
In the embodiment of the present invention, similarly, the obtained inertial navigation ranging information refers to ranging information directly obtained by an inertial navigation positioning system, and is not subjected to fitting constraint processing.
And step S504, performing constraint processing on the inertial navigation ranging information according to the multi-motion mode constraint model to generate modified inertial navigation ranging information.
In the embodiment of the present invention, please refer to fig. 6 and the description thereof for a specific process of constraining the inertial navigation ranging information based on the multi-modal constraint model.
The step S206 specifically includes:
step S506, a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system is established according to the difference value of the ultra-wideband ranging information and the corrected inertial navigation ranging information.
In the embodiment of the invention, similarly, the observation error can be reduced by carrying out constraint processing on the inertial navigation ranging information obtained by observation, and the constructed range equation has higher precision, thereby effectively improving the subsequent positioning precision.
As shown in fig. 6, a flowchart of a step of performing constraint processing on inertial navigation ranging information according to an embodiment of the present invention specifically includes the following steps:
step S602, performing zero-speed detection on the object to be positioned according to a generalized likelihood ratio detection algorithm, and determining the motion state of the object to be positioned.
In the 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 invention, the object to be positioned is subjected to zero-speed detection through a generalized likelihood ratio detection algorithm to determine the motion state of the object to be positioned, and different algorithms are adopted to carry out constraint processing based on different motion states of the object to be positioned. The zero-speed detection of the object to be positioned through the generalized likelihood ratio detection algorithm is mainly judged according to whether the amplitudes of the accelerometer and the gyroscope are in a given threshold value, and the judgment basis is specifically as follows:
in the formula,
the kth acceleration vector and the angular velocity vector which are respectively output by an accelerometer and a gyroscope, and the observation noises of the accelerometer and the gyroscope are respectively sigmaa,σωW is the window length, when T is less than a given threshold lambdaGWhen it is time, it is considered that zero velocity is detected.
Step S604, performing zero-speed correction processing or course angle constraint processing on the inertial navigation ranging information according to the motion state of the object to be positioned, and generating corrected inertial navigation ranging information.
In the embodiment of the present invention, according to different motion states of an object to be positioned, a zero-speed correction process or a heading angle constraint process is adopted to perform a constraint process on inertial navigation ranging information, wherein please refer to fig. 7 and the explanation thereof for specific steps.
Fig. 7 is a flowchart illustrating steps of performing a zero-speed correction process or a heading angle constraint process on inertial navigation ranging information according to an embodiment of the present invention, which is described in detail below.
In the embodiment of the present invention, the step of performing zero-speed correction processing or course angle constraint processing on the inertial navigation distance measurement information according to the motion state of the object to be positioned, and generating the corrected inertial navigation distance measurement information specifically includes the following steps:
step S702, when the motion state of the object to be positioned is determined to be a static state, performing zero-speed correction processing on the inertial navigation ranging information to generate corrected inertial navigation ranging information.
In the embodiment of the invention, the observation equation of zero-speed correction is Z1＝H1X+w1
Wherein X is the state variable of the combined system, w1For zero-speed observation of noise, the observed value Z1Is composed of
Observation matrix is H1＝[03×3I3×303×18]。
Step S704, when the motion state of the object to be positioned is determined to be a non-static state, carrying out course angle constraint processing on the inertial navigation ranging information to generate corrected inertial navigation ranging information.
In the embodiment of the invention, a non-integrity constraint model is adopted to constrain the course angle in the inertial navigation ranging information.
As shown in fig. 8, for a positioning effect experimental diagram of an indoor positioning method provided in an embodiment of the present invention, to facilitate comparison of differences of the indoor positioning method of the present invention with respect to an existing indoor positioning method, location information determined by the indoor positioning method of the present invention, a conventional inertial navigation positioning method, and a conventional ultra wideband positioning method is shown at the same time, and please refer to fig. 8 specifically.
As shown in fig. 8, in which INS represents a track diagram of object positioning information measured by a conventional inertial navigation positioning method, UWB represents a track diagram of object positioning information measured by a conventional ultra-wideband positioning method, Combination represents a track diagram of object positioning information measured by an indoor positioning method, that is, a track diagram of object positioning information measured by a combined positioning system, and Standard represents a track diagram of real positioning information of an object, it can be seen that an error is significant when a heading angle is changed in the conventional inertial navigation positioning method, while an ultra-wideband positioning method is subject to environmental interference in a partial region, and also has a significant error, and positioning information determined by the combined positioning system has a high degree of fitting with real positioning information of the object, has a low error, is not subject to environmental interference easily, and has good stability.
Fig. 9 is a schematic structural diagram of an indoor positioning device according to an embodiment of the present invention, which is described in detail as follows.
In an embodiment of the present invention, the indoor positioning apparatus includes:
and the ultra-wideband ranging unit 910 is configured to acquire ultra-wideband ranging information of the object to be positioned under the ultra-wideband positioning system.
And the inertial navigation ranging unit 920 is configured to obtain inertial navigation ranging information of the object to be positioned under the inertial navigation positioning system.
The measurement equation constructing unit 930 is configured to construct a measurement equation of the object to be positioned 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.
And the state vector construction unit 940 is used for constructing a state equation of the ultra-wideband/inertial navigation combined positioning system.
The state equation takes the position information and the speed information of the object to be positioned as a state vector.
And a positioning information updating unit 950, configured to perform time updating and measurement updating on the state equation and the measurement equation according to an extended kalman filter algorithm, and determine positioning information of the object to be positioned under the combined positioning system.
The indoor positioning device provided by the embodiment of the invention firstly obtains the ranging information of an object to be positioned under an ultra-wideband positioning system and under an inertial navigation positioning system respectively, then constructs a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the two ranging information, constructs a state equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system by taking the position information and the speed information of the object to be positioned as state vectors, finally carries out time updating and measurement updating on the state equation and the measurement equation according to an extended Kalman filtering algorithm, and re-determines the positioning information of the object to be positioned under the combined positioning system. According to the indoor positioning device provided by the embodiment of the invention, the ultra-wideband/inertial navigation combined positioning system is constructed, the measurement equation is constructed according to the difference value of the object to be positioned under the two positioning systems, the measurement equation and the state equation are updated and calculated by utilizing the extended Kalman filtering algorithm, so that the positioning information of the object to be positioned can be accurately obtained, and the technical problems of easy indoor environment interference, poor robustness and insufficient positioning precision existing in the existing indoor positioning technology are solved.
FIG. 10 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be the positioning apparatus 120 in fig. 1. As shown in fig. 10, the computer apparatus 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 may also store a computer program which, when executed by the processor, causes the processor to implement the indoor positioning method. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to perform an indoor positioning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the indoor positioning apparatus provided by the present application may be implemented in the form of a computer program, which is executable on a computer device as shown in fig. 10. The memory of the computer device may store various program modules constituting the indoor positioning device, such as the ultra-wideband ranging unit, the inertial navigation ranging unit, the measurement equation construction unit, the state vector construction unit, and the positioning information updating unit shown in fig. 8. The computer program constituted by the respective program modules causes the processor to execute the steps in the methods of the respective embodiments of the present application described in the present specification.
For example, the computer device shown in fig. 10 may perform step S202 by the ultra-wideband ranging unit in the indoor positioning apparatus shown in fig. 9; the computer device may perform step S204 through the inertial navigation ranging unit; the computer device may perform step S206 by the measurement equation constructing unit; the computer device may perform step S208 by the state vector construction unit; the computer device may perform step S210 by 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 implementing the following steps when executing the computer program:
acquiring ultra-wideband ranging information of an object to be positioned under an ultra-wideband positioning system;
acquiring inertial navigation ranging information of an object to be positioned under an inertial navigation positioning system;
constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information;
constructing a state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and the speed information of an object to be positioned as a state vector;
and carrying out time updating and measurement updating on the state equation and the measurement equation according to an expanded Kalman filtering algorithm, and determining the positioning information of the object to be positioned under the combined positioning system.
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which, when executed by a processor, causes the processor to perform the steps of:
acquiring ultra-wideband ranging information of an object to be positioned under an ultra-wideband positioning system;
acquiring inertial navigation ranging information of an object to be positioned under an inertial navigation positioning system;
constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information;
constructing a state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and the speed information of an object to be positioned as a state vector;
and carrying out time updating and measurement updating on the state equation and the measurement equation according to an expanded Kalman filtering algorithm, and determining the positioning information of the object to be positioned under the combined positioning system.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An indoor positioning method, comprising:
acquiring ultra-wideband ranging information of an object to be positioned under an ultra-wideband positioning system;
acquiring inertial navigation ranging information of an object to be positioned under an inertial navigation positioning system;
constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information;
constructing a state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and the speed information of an object to be positioned as a state vector;
and carrying out time updating and measurement updating on the state equation and the measurement equation according to an expanded Kalman filtering algorithm, and determining the positioning information of the object to be positioned under the combined positioning system.
2. The indoor positioning method according to claim 1, wherein the step of obtaining the ultra-wideband ranging information of the object to be positioned under the ultra-wideband positioning system specifically comprises:
acquiring ultra-wideband ranging information of an object to be positioned under an ultra-wideband positioning system;
fitting and correcting the ultra-wideband ranging information according to an ultra-wideband positioning system error correction model to generate corrected ultra-wideband ranging information; the ultra-wideband positioning system error correction model is constructed in advance based on ranging information of a known object with state information;
the step of constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information specifically comprises the following steps:
and constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the corrected ultra-wideband ranging information and the corrected inertial navigation ranging information.
3. The indoor positioning method according to claim 2, wherein the step of constructing the ultra-wideband positioning system error correction model in advance based on the ranging information of the object whose state information is known specifically comprises:
obtaining ranging information of a state information known object under an ultra-wideband positioning system;
determining absolute and relative errors between the ranging information and the state information;
and modeling and fitting the absolute error and the relative error according to an exponential function model to generate an ultra-wideband positioning system error correction model.
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 positioning system specifically comprises:
acquiring inertial navigation ranging information of an object to be positioned under an inertial navigation positioning system;
carrying out constraint processing on the inertial navigation ranging information according to a multi-motion modal constraint model to generate corrected inertial navigation ranging information;
the step of constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information specifically comprises the following steps:
and constructing a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the corrected inertial navigation ranging information.
5. The indoor positioning method according to claim 4, wherein the step of performing constraint processing on the inertial navigation ranging information according to a multi-motion modal constraint model to generate modified inertial navigation ranging information specifically includes:
carrying out zero-speed detection on the object to be positioned according to a generalized likelihood ratio detection algorithm, and determining the motion state of the object to be positioned;
and performing zero-speed correction processing or course 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.
6. The indoor positioning method according to claim 5, wherein the motion state of the object to be positioned includes a stationary state or a non-stationary state; the step of performing zero-speed correction processing or course 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 specifically comprises the following steps:
when the motion state of the object to be positioned is determined to be a static state, performing zero-speed correction processing on the inertial navigation ranging information to generate corrected inertial navigation ranging information;
and when the motion state of the object to be positioned is determined to be a non-static state, carrying out course angle constraint processing on the inertial navigation ranging information to generate corrected inertial navigation ranging information.
7. An indoor positioning device, comprising:
the ultra-wideband ranging unit is used for acquiring ultra-wideband ranging information of an object to be positioned under the ultra-wideband positioning system;
the inertial navigation distance measurement unit is used for acquiring inertial navigation distance measurement information of an object to be positioned under the inertial navigation positioning system;
the measurement equation building unit is used for building a measurement equation of the object to be positioned under the ultra-wideband/inertial navigation combined positioning system according to the difference value of the ultra-wideband ranging information and the inertial navigation ranging information;
the state vector construction unit is used for constructing a state equation of the ultra-wideband/inertial navigation combined positioning system; the state equation takes the position information and the speed information of an object to be positioned as a state vector;
and the positioning information updating unit is used for carrying out time updating and measurement updating on the state equation and the measurement equation according to an extended Kalman filtering algorithm and determining the positioning information of the object to be positioned under the combined positioning system.
8. A computer arrangement, characterized by comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to carry out the steps of the indoor positioning method of any one of claims 1 to 6.
9. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, causes the processor to carry out the steps of the indoor positioning method of any one of claims 1 to 6.
10. An indoor positioning system comprising the indoor positioning device of claim 7, an ultra-wideband positioning system, and an inertial navigation positioning system; the ultra-wideband positioning system is used for determining ultra-wideband ranging information of an object to be positioned under the ultra-wideband positioning system; the inertial navigation positioning system is used for determining inertial navigation ranging information of an object to be positioned under the inertial navigation positioning system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010560928.0A CN111678513A (en) | 2020-06-18 | 2020-06-18 | Ultra-wideband/inertial navigation tight coupling indoor positioning device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010560928.0A CN111678513A (en) | 2020-06-18 | 2020-06-18 | Ultra-wideband/inertial navigation tight coupling indoor positioning device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111678513A true CN111678513A (en) | 2020-09-18 |
Family
ID=72455665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010560928.0A Pending CN111678513A (en) | 2020-06-18 | 2020-06-18 | Ultra-wideband/inertial navigation tight coupling indoor positioning device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111678513A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112833876A (en) * | 2020-12-30 | 2021-05-25 | 西南科技大学 | Multi-robot cooperative positioning method integrating odometer and UWB |
| CN113359169A (en) * | 2021-07-14 | 2021-09-07 | 北京理工大学 | Vehicle co-location method for crossroad with traffic light |
| CN115357862A (en) * | 2022-10-20 | 2022-11-18 | 山东建筑大学 | Positioning method in long and narrow space |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110025562A1 (en) * | 2009-08-03 | 2011-02-03 | Xsens Technologies, B.V. | Tightly Coupled UWB/IMU Pose Estimation System and Method |
| CN105204083A (en) * | 2015-09-14 | 2015-12-30 | 武汉大学 | Vertical gravity gradient extraction method and system based on absolute gravimeter |
| CN106871893A (en) * | 2017-03-03 | 2017-06-20 | 济南大学 | Distributed INS/UWB tight integrations navigation system and method |
| CN106908759A (en) * | 2017-01-23 | 2017-06-30 | 南京航空航天大学 | A kind of indoor pedestrian navigation method based on UWB technology |
| CN108426574A (en) * | 2018-02-02 | 2018-08-21 | 哈尔滨工程大学 | A kind of MEMS pedestrian navigation methods of the course angle correction algorithm based on ZIHR |
| US20180356492A1 (en) * | 2015-06-16 | 2018-12-13 | Michael Hamilton | Vision based location estimation system |
| CN109186609A (en) * | 2018-10-09 | 2019-01-11 | 南京航空航天大学 | UWB localization method based on KF algorithm, Chan algorithm and Taylor algorithm |
-
2020
- 2020-06-18 CN CN202010560928.0A patent/CN111678513A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110025562A1 (en) * | 2009-08-03 | 2011-02-03 | Xsens Technologies, B.V. | Tightly Coupled UWB/IMU Pose Estimation System and Method |
| US20180356492A1 (en) * | 2015-06-16 | 2018-12-13 | Michael Hamilton | Vision based location estimation system |
| CN105204083A (en) * | 2015-09-14 | 2015-12-30 | 武汉大学 | Vertical gravity gradient extraction method and system based on absolute gravimeter |
| CN106908759A (en) * | 2017-01-23 | 2017-06-30 | 南京航空航天大学 | A kind of indoor pedestrian navigation method based on UWB technology |
| CN106871893A (en) * | 2017-03-03 | 2017-06-20 | 济南大学 | Distributed INS/UWB tight integrations navigation system and method |
| CN108426574A (en) * | 2018-02-02 | 2018-08-21 | 哈尔滨工程大学 | A kind of MEMS pedestrian navigation methods of the course angle correction algorithm based on ZIHR |
| CN109186609A (en) * | 2018-10-09 | 2019-01-11 | 南京航空航天大学 | UWB localization method based on KF algorithm, Chan algorithm and Taylor algorithm |
Non-Patent Citations (1)
| Title |
|---|
| 陈昊 等: "基于UWB/SINS组合的行人导航研究", 《导航定位与授时》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112833876A (en) * | 2020-12-30 | 2021-05-25 | 西南科技大学 | Multi-robot cooperative positioning method integrating odometer and UWB |
| CN112833876B (en) * | 2020-12-30 | 2022-02-11 | 西南科技大学 | Multi-robot cooperative positioning method integrating odometer and UWB |
| CN113359169A (en) * | 2021-07-14 | 2021-09-07 | 北京理工大学 | Vehicle co-location method for crossroad with traffic light |
| CN115357862A (en) * | 2022-10-20 | 2022-11-18 | 山东建筑大学 | Positioning method in long and narrow space |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110849374B (en) | Underground environment positioning method, device, equipment and storage medium | |
| KR101912195B1 (en) | Method and device for real-time target location and map creation | |
| CN106714110B (en) | Wi-Fi position fingerprint map automatic construction method and system | |
| CN109059907B (en) | Trajectory data processing method and device, computer equipment and storage medium | |
| CN111678513A (en) | Ultra-wideband/inertial navigation tight coupling indoor positioning device and system | |
| CN107255795A (en) | Localization Approach for Indoor Mobile and device based on EKF/EFIR mixed filterings | |
| CN113108791A (en) | Navigation positioning method and navigation positioning equipment | |
| US20140358434A1 (en) | Peer-Assisted Dead Reckoning | |
| CN111460375B (en) | Method, device, equipment and medium for determining validity of positioning data | |
| CN110501010A (en) | Determine position of the mobile device in geographic area | |
| Ibrahim et al. | Inertial measurement unit based indoor localization for construction applications | |
| CN113189541B (en) | Positioning method, device and equipment | |
| Shi et al. | Fault-tolerant SINS/HSB/DVL underwater integrated navigation system based on variational Bayesian robust adaptive Kalman filter and adaptive information sharing factor | |
| CN112362044A (en) | Indoor positioning method, device, equipment and system | |
| CN116448111A (en) | Pedestrian indoor navigation method, device and medium based on multi-source information fusion | |
| CN111707294A (en) | Pedestrian navigation zero-speed interval detection method and device based on optimal interval estimation | |
| Thomas et al. | Comparison of nearest neighbor and probabilistic data association filters for target tracking in cluttered environment | |
| CN115267667B (en) | Underground high-precision positioning correction method, device, equipment and storage medium | |
| CN116929343A (en) | Pose estimation method, related equipment and storage medium | |
| Zhang et al. | Adaptive cubature Kalman filter based on the variance-covariance components estimation | |
| CN114088104B (en) | Map generation method under automatic driving scene | |
| TWI764842B (en) | Ranging-type positioning system and method based on crowdsourced calibration | |
| Havyarimana et al. | A Hybrid Approach‐Based Sparse Gaussian Kernel Model for Vehicle State Determination during Outage‐Free and Complete‐Outage GPS Periods | |
| JP7125927B2 (en) | Information terminal device, method and program | |
| CN114964204A (en) | Map construction method, map using method, map constructing device, map using equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200918 |