CN103776442B - The localization method of region wireless location and micro-inertial navigation combined system - Google Patents
The localization method of region wireless location and micro-inertial navigation combined system Download PDFInfo
- Publication number
- CN103776442B CN103776442B CN201410022394.0A CN201410022394A CN103776442B CN 103776442 B CN103776442 B CN 103776442B CN 201410022394 A CN201410022394 A CN 201410022394A CN 103776442 B CN103776442 B CN 103776442B
- Authority
- CN
- China
- Prior art keywords
- moment
- wireless location
- motion carrier
- micro
- location system
- 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.)
- Active
Links
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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
A kind of region wireless location designed by the present invention and micro-inertial navigation combined system and localization method thereof, it includes integrated navigation computer, micro-SINS, wireless location system and path generator, wherein, the communication ends of micro-SINS, wireless location system and path generator is connected with the communication ends of integrated navigation computer respectively.The micro-inertial navigation adopted in the present invention and wireless location combined system, can play the advantage of respective system, make up the defect of another system, improve zone location precision and the capacity of resisting disturbance of total system.
Description
Technical field
The present invention relates to positioning navigation method technical field, in particular to a kind of region wireless location and micro-inertial navigation combined system and localization method thereof.
Technical background
In recent years, the demand of indoor positioning is increased by people day by day.Indoor positioning seems more and more important for public life, for instance in superstore, by obtaining consumer's personnel location information and end article positional information, carries out route guiding, it is achieved intelligent shopping guide；In sudden disaster, by indoor positioning, rescue personnel is guided to save trapped personnel in building with prestissimo；In hospital, the management etc. of patient monitoring and armarium.Realize low cost, high-precision indoor positioning, there is very important realistic meaning.
GPS(GlobalPositioningSystem, global positioning system) system has good real-time, but the positioning precision of 10 meters is for indoor narrow space, it is impossible to and different target thing is made a distinction, loses the meaning of location；Additionally, the signal that gps signal cannot pass through building body arrival indoor or arrival indoor is very weak.Therefore GPS is not used to the research of indoor positioning, and the global position system such as the Big Dipper and GLONASS equally exists problem above.Adopting carrier phase difference technology, precision can arrive Centimeter Level, but realize carrier phase difference and need to set up complex data chain between each mobile object and base station, and complexity and the power consumption size of whole system are all unfavorable for locating and tracking.
Inertial navigation system is the one navigation mode just grown up earlier 1900s.Inertial navigation system does not rely on external information, not outside emittance yet, and positioning result is smoother, seldom there is sign mutation, is a kind of autonomic navigation system.But INS errors accumulates in time, it is impossible to work independently for a long time.In order to weaken the speed of the accumulation of error, it is necessary to select high-precision Inertial Measurement Unit.High-precision IMU(Inertialmeasurementunit, Inertial Measurement Unit) volume and power consumption all relatively big and relatively costly, it is impossible to promote in indoor positioning.
Wireless location technology mainly has infrared technology, ultrasonic locating technology, Bluetooth technology, REID and Wi-Fi technology etc. for indoor positioning.(1) infrared ray has of a relatively high indoor position accuracy, but requires between the object of location unobstructed, propagates additionally, infrared ray is only suitable for short distance, and is easily disturbed by the light in fluorescent lamp or room, has limitation on being accurately positioned；(2) the overall positioning precision of ultrasonic locating is higher, and simple in construction but also requires that between testee unobstructed, and ultrasound wave is affected very big by multipath effect and non-line-of-sight propagation, simultaneously need to substantial amounts of bottom hardware facility investment, cost is too high；(3) advantage that bluetooth indoor positioning technologies is maximum is that equipment volume is little, but the price comparison of bluetooth devices and equipment is expensive, and for complicated spatial environments, Bluetooth system individual unit operating distance is short, poor stability, big by noise signal interference.(4) REID utilizes RF-wise to carry out contactless bidirectional communication data exchange to reach the purpose identifying and positioning, the information of Centimeter Level positioning precision can be obtained in several milliseconds, cost is relatively low, but operating distance is near, not there is communication capacity, and be not easy to be incorporated among other system；(5) Wi-Fi technology is widely used in the indoor positioning of little scope, less costly, but no matter it is for indoor or outdoor positioning, Wi-Fi transceiver all can only region within covering radius 90 meters, and it is highly susceptible to the interference of other signals, thus affecting its precision, the energy consumption of localizer is also higher.
Reach time difference algorithm list of references: Zhou Wenting, Zhu Yan, based on TDOA wireless location system application with analyze [J]. computer and modernization, 2012 (3): 54-57.
Quaternion Method list of references: Qin Yongyuan. inertial navigation [M]. Beijing: Science Press, 2003:47-52.
Summary of the invention
Present invention aim to provide a kind of region wireless location and micro-inertial navigation combined system and localization method thereof, micro-SINS (MINS) and wireless location system (WPS) are constituted integrated positioning system by it, suppressed the saltus step of wireless location system signal by micro-SINS, make positioning result smooth, accurate；Meanwhile, wireless location system can suppress the accumulation of error of micro-SINS.
For realizing this purpose, region wireless location designed by the present invention and micro-inertial navigation combined system, it is characterized in that: it includes integrated navigation computer, micro-SINS, wireless location system and path generator, wherein, the communication ends of micro-SINS, wireless location system and path generator is connected with the communication ends of integrated navigation computer respectively.
In technique scheme, described micro-SINS, wireless location system and path generator are respectively through I/O(input/output, input/output port) communication module is connected with integrated navigation computer.
A kind of localization method utilizing above-mentioned zone wireless location and micro-inertial navigation combined system, it is characterised in that it comprises the steps:
Step 1: set initial position message and the initial velocity information of motion carrier in integrated navigation computer；
Step 2: set the nominal trajectory data of motion carrier by path generator, and in integrated navigation computer the nominal trajectory data acquisition motion carrier of motion carrier according to above-mentioned setting in the nominal acceleration information in each moment；Then at the integrated navigation computer initial position message according to above-mentioned motion carrier and initial velocity information and motion carrier in the nominal acceleration information in each moment, datum speed information and the nominal position information in each moment of motion carrier are obtained by integral and calculating；
Step 3: the datum speed information according to each moment of motion carrier obtained in step 2 adopts existing conventional backstepping mode to obtain each moment nominal of gyroscope output data and the nominal in each moment of the accelerometer output data of micro-SINS with the nominal position information in each moment in integrated navigation computer；In integrated navigation computer, obtain the nominal ranging data in each moment of wireless location system output according to the conventional backstepping mode existing with the employing of the nominal position information in each moment of the datum speed information in each moment of motion carrier of acquisition in step 2 simultaneously；
Step 4: in the process that motion carrier moves along nominal trajectory, the actual output data in each moment of gyroscope and the actual output data in each moment of accelerometer are sent to integrated navigation computer by micro-SINS, and the actual ranging data in each moment of wireless location system output is sent to integrated navigation computer；The meansigma methods of gyroscope actual output data and the meansigma methods of the actual output data of accelerometer and the meansigma methods of the actual ranging data of wireless location system output is obtained in integrated navigation computer；The meansigma methods that the actual output data in each moment of gyroscope deduct gyroscope actual output data in integrated navigation computer obtains the error amount of each moment of gyroscope output data, the meansigma methods that the actual output data in each moment of accelerometer deduct the actual output data of accelerometer obtains the error amount of each moment of accelerometer output data, and the meansigma methods that the actual ranging data in each moment of wireless location system output deducts the actual ranging data of wireless location system output obtains the error amount of the ranging data that each moment of wireless location system exports；
Step 5: in integrated navigation computer, each moment nominal of the gyroscope obtained in step 3 is exported data and adds that the error amount of each moment of gyroscope obtained in step 4 output data obtains having each moment of gyroscope output data of true error characteristic；
The nominal in each moment of accelerometer obtained in step 3 is exported data and adds that the error amount of each moment of accelerometer obtained in step 4 output data obtains having each moment of accelerometer output data of true error characteristic；
The nominal ranging data in each moment exported by the wireless location system obtained in step 3 adds that the error amount of the ranging data of each moment of wireless location system obtained in step 4 output obtains having the ranging data of each moment of wireless location system output of true error characteristic；
Step 6: the ranging data exported in each moment of the wireless location system with true error characteristic obtained in step 5 in integrated navigation computer is calculated by difference algorithm existing conventional time of advent and obtains motion carrier three dimensional local information under wireless location system, then passes through and above-mentioned motion carrier three dimensional local information under wireless location system is carried out differential calculation obtains motion carrier three-dimensional velocity information under wireless location system；
Each moment of the gyroscope with true error characteristic obtained in step 5 output data are completed attitude algorithm by existing Quaternion Method in integrated navigation computer and obtain motion carrier posture changing matrix and three attitude angle of motion carrier: the angle of pitch, roll angle, angle of drift by step 7: while step 6 carries out；Then utilize above-mentioned motion carrier posture changing matrix that each moment of the accelerometer with true error characteristic obtained in step 5 exports data and carry out the motion carrier acceleration information that coordinate transform obtains navigating under system, by the motion carrier acceleration information under navigation system is integrated the three-dimensional velocity information that obtains motion carrier under micro-SINS, then pass through the three dimensional local information that above-mentioned motion carrier three-dimensional velocity information under micro-SINS is integrated obtains motion carrier under micro-SINS；
Step 8: by the difference of motion carrier three-dimensional velocity information under wireless location system with motion carrier three-dimensional velocity information under micro-SINS in integrated navigation computer, and the difference of the three dimensional local information that motion carrier is under wireless location system and motion carrier three dimensional local information under micro-SINS is as observed quantity, builds the measurement equation of Kalman filter equation；Each moment 3 d pose error amount that micro-SINS is carried, each moment three-dimensional velocity error amount, each moment three-dimensional position error amount, the constant value drift value of each moment gyro, the single order Markov error amount of each moment gyro, the single order Markov error amount of each moment accelerometer is as quantity of state, build the state equation of Kalman filter equation, above-mentioned measurement equation and state equation are combined and constitutes Kalman filter equation, actual speed error and the deviations of actual position of micro-SINS is calculated by Kalman filter equation, and the motion carrier velocity information that micro-SINS exported and motion carrier positional information compensate, motion carrier velocity information after compensation and motion carrier positional information are exported by integrated navigation computer, this output is as the positioning result of combined system.
Described ranging data is the distance in each moment of motion carrier and the base station of wireless location system.
The main feature of the present invention is as follows:
1, adopt the prototype system output error of micro-SINS and wireless location system, there is true error characteristic；
2, navigational computer uses path generator to generate target arbitrary motion track, it is achieved micro-SINS and wireless location system integrated navigation and location semi-matter simulating system；
3, the present invention by the real time dynamic simulation of the micro-inertial navigation of the path implementation designed in advance and wireless location combined system, can have very strong versatility；
4, the simple in construction of the present invention and less costly；
5, micro-inertial navigation and wireless location combined system, the advantage of respective system can be played, the real-time that wireless location system is good can suppress the error accumulation of micro-inertial navigation, the data smoothing of micro-SINS, the signal saltus step of wireless location system can be suppressed, make up the deficiency that wireless location system data updating rate is slow.After two sub-system in combination, improve zone location precision and the capacity of resisting disturbance of total system.
Accompanying drawing explanation
Fig. 1 is the structural representation of present system part；
Fig. 2 is the flow chart of the inventive method part.
Wherein, 1 integrated navigation computer, 2 micro-SINSs, 3 wireless location systems, 4 path generators, 5 I/O communication modules.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Region wireless location shown in 1 and micro-inertial navigation combined system in figure, it includes integrated navigation computer 1, micro-SINS 2, wireless location system 3 and path generator 4, wherein, the communication ends of micro-SINS 2, wireless location system 3 and path generator 4 is connected with the communication ends of integrated navigation computer 1 respectively.
In technique scheme, described micro-SINS 2, wireless location system 3 and path generator 4 are connected with integrated navigation computer 1 respectively through I/O communication module 5.
A kind of localization method utilizing above-mentioned zone wireless location and micro-inertial navigation combined system, it is characterised in that it comprises the steps:
Step 1: set initial position message and the initial velocity information of motion carrier in integrated navigation computer 1；
Step 2: set the nominal trajectory data of motion carrier by path generator 4, and in integrated navigation computer 1 the nominal trajectory data acquisition motion carrier of motion carrier according to above-mentioned setting in the nominal acceleration information in each moment；Then at the integrated navigation computer 1 initial position message according to above-mentioned motion carrier and initial velocity information and motion carrier in the nominal acceleration information in each moment, datum speed information and the nominal position information in each moment of motion carrier are obtained by integral and calculating；
Step 3: the datum speed information according to each moment of motion carrier obtained in step 2 adopts existing conventional backstepping mode to obtain each moment nominal of gyroscope output data and the nominal in each moment of the accelerometer output data of micro-SINS 2 with the nominal position information in each moment in integrated navigation computer 1；In integrated navigation computer 1, obtain the nominal ranging data in each moment of wireless location system 3 output according to the conventional backstepping mode existing with the employing of the nominal position information in each moment of the datum speed information in each moment of motion carrier of acquisition in step 2 simultaneously；
Step 4: in the process that motion carrier moves along nominal trajectory, the actual output data in each moment of gyroscope and the actual output data in each moment of accelerometer are sent to integrated navigation computer 1 by micro-SINS 2, and the actual ranging data in each moment of wireless location system 3 output is sent to integrated navigation computer 1；The meansigma methods of gyroscope actual output data and the meansigma methods of the actual output data of accelerometer and the meansigma methods of the actual ranging data of wireless location system 3 output is obtained in integrated navigation computer 1；The meansigma methods that the actual output data in each moment of gyroscope deduct gyroscope actual output data in integrated navigation computer 1 obtains the error amount of each moment of gyroscope output data, the meansigma methods that the actual output data in each moment of accelerometer deduct the actual output data of accelerometer obtains the error amount of each moment of accelerometer output data, the actual ranging data in each moment exported by wireless location system 3 deducts the error amount that the meansigma methods of the actual ranging data that wireless location system 3 exports obtains the ranging data of each moment of wireless location system 3 output；
Step 5: in integrated navigation computer 1, each moment nominal of the gyroscope obtained in step 3 is exported data and adds that the error amount of each moment of gyroscope obtained in step 4 output data obtains having each moment of gyroscope output data of true error characteristic；
The nominal in each moment of accelerometer obtained in step 3 is exported data and adds that the error amount of each moment of accelerometer obtained in step 4 output data obtains having each moment of accelerometer output data of true error characteristic；
The nominal ranging data in each moment exported by the wireless location system 3 obtained in step 3 adds that the error amount of the ranging data of each moment of wireless location system 3 obtained in step 4 output obtains having the ranging data of each moment of wireless location system 3 output of true error characteristic；
Step 6: in integrated navigation computer 1, the ranging data of the output of each moment of wireless location system 3 with true error characteristic obtained in step 5 is passed through existing routine difference algorithm (the TDOA time of advent, TimeDifferenceofArrival) (above-mentioned time of advent, difference algorithm was documented in following list of references: Zhou Wenting, Zhu Yan, based on TDOA wireless location system application with analyze [J]. computer and modernization, 2012 (3): 54-57) calculating obtains motion carrier three dimensional local information under wireless location system 3, then pass through and above-mentioned motion carrier three dimensional local information under wireless location system 3 is carried out differential calculation obtain motion carrier three-dimensional velocity information under wireless location system 3；
Step 7: step 6 carry out while, in integrated navigation computer 1, each moment of the gyroscope with true error characteristic obtained in step 5 is exported data by existing Quaternion Method (above-mentioned Quaternion Method is documented in following list of references: Qin Yongyuan. inertial navigation [M]. Beijing: Science Press, 2003:47-52) complete attitude algorithm and obtain motion carrier posture changing matrix and three attitude angle of motion carrier: the angle of pitch, roll angle, angle of drift；Then utilize above-mentioned motion carrier posture changing matrix that each moment of the accelerometer with true error characteristic obtained in step 5 exports data and carry out the motion carrier acceleration information that coordinate transform obtains navigating under system, by the motion carrier acceleration information under navigation system is integrated the three-dimensional velocity information that obtains motion carrier under micro-SINS 2, then pass through the three dimensional local information that above-mentioned motion carrier three-dimensional velocity information under micro-SINS 2 is integrated obtains motion carrier under micro-SINS 2；
Step 8: by the difference of motion carrier three-dimensional velocity information under wireless location system 3 with motion carrier three-dimensional velocity information under micro-SINS 2 in integrated navigation computer 1, and the difference of the three dimensional local information that motion carrier is under wireless location system 3 and motion carrier three dimensional local information under micro-SINS 2 is as observed quantity, builds the measurement equation of Kalman filter equation；Each moment 3 d pose error amount that micro-SINS 2 is carried, each moment three-dimensional velocity error amount, each moment three-dimensional position error amount, the constant value drift value of each moment gyro, the single order Markov error amount of each moment gyro, the single order Markov error amount of each moment accelerometer is as quantity of state, build the state equation of Kalman filter equation, above-mentioned measurement equation and state equation are combined and constitutes Kalman filter equation, actual speed error and the deviations of actual position of micro-SINS 2 is calculated by Kalman filter equation, and the motion carrier velocity information and motion carrier positional information to the output of micro-SINS 2 compensates, motion carrier velocity information after compensation and motion carrier positional information are exported by integrated navigation computer 1, this output is as the positioning result of combined system.
In technique scheme, described ranging data is the distance in each moment of motion carrier and the base station of wireless location system 3.
The following analyzing and processing to micro-SINS 2 and wireless location system 3 is also included: 1, when micro-SINS 2 and wireless location system 3 can be normally carried out data renewal after above-mentioned steps 7, enter the integrated mode of micro-SINS 2 and wireless location system 3, the i.e. associative operation of step 8；2, when only one of which subsystem normal operation (only micro-SINS 2 or wireless location system 3 normal operation), the subsystem of normal operation is chosen as output；3, when micro-SINS 2 and wireless location system 3 all break down, system stalls.
Above-mentioned concrete analysis processes logic:
(1) micro-SINS 2 is normal, and wireless location system 3 is normal: micro-SINS 2 and wireless location system 3 are by the mode integrated navigation of above-mentioned steps 8；
(2) micro-SINS 2 is normal, wireless location system 3 fault: micro-SINS 2 individually navigates；
(3) micro-SINS 2 fault, wireless location system 3 is normal: wireless location system 3 individually navigates；
(4) micro-SINS 2 fault, wireless location system 3 fault: quit work.
In technique scheme, micro-SINS 2 is constituted sensing element by Inertial Measurement Unit (IMU) gyro and accelerometer, and the line for perception carrier moves and angular movement.Power module is system power supply, and micro-SINS 2 is carried out constant error compensation by thermal module.The output data of gyro and acceleration export in inertial navigation computer, according to inertial navigation settlement method, position resolving, export the position of carrier, speed, attitude information after having resolved, then pass through I/O communication module, are exported by calculation result.
In technique scheme, wireless location system 3 is moved by base station sight motion carrier, specific as follows: to build multiple wireless location system 3 base station at specific region (such as supermarket, rescue site etc.), then to the target (i.e. motion carrier) of the required observation electronic tag (radio wave transceiver) plus wireless location system 3, by the receiving and transmitting signal time difference between base station and label, and then obtain distance therebetween.This distance is above-mentioned nominal ranging data.
In the step 6 of above-mentioned technical method, the time of advent, the basic thought of difference algorithm was to measure mobile platform to launch the time difference arriving different base station of signal.The time of advent, the ultimate principle of difference algorithm was that to utilize point on hyp characteristic hyperbola be definite value to the difference of bifocal distance.
The content that description is not described in detail belongs to the known prior art of professional and technical personnel in the field.
Claims (3)
1. the localization method utilizing region wireless location and micro-inertial navigation combined system, described region wireless location and micro-inertial navigation combined system include integrated navigation computer (1), micro-SINS (2), wireless location system (3) and path generator (4), wherein, the communication ends of micro-SINS (2), wireless location system (3) and path generator (4) is connected with the communication ends of integrated navigation computer (1) respectively；
It is characterized in that, the localization method of region wireless location and micro-inertial navigation combined system, it comprises the steps:
Step 1: set initial position message and the initial velocity information of motion carrier in integrated navigation computer (1)；
Step 2: set the nominal trajectory data of motion carrier by path generator (4), and in integrated navigation computer (1) the nominal trajectory data acquisition motion carrier of motion carrier according to above-mentioned setting in the nominal acceleration information in each moment；Then at the integrated navigation computer (1) initial position message according to above-mentioned motion carrier and initial velocity information and motion carrier in the nominal acceleration information in each moment, datum speed information and the nominal position information in each moment of motion carrier are obtained by integral and calculating；
Step 3: the datum speed information according to each moment of motion carrier obtained in step 2 adopts existing conventional backstepping mode to obtain each moment nominal of gyroscope output data and the nominal in each moment of the accelerometer output data of micro-SINS (2) with the nominal position information in each moment in integrated navigation computer (1)；Adopt existing conventional backstepping mode to obtain the nominal ranging data in each moment that wireless location system (3) exports according to the datum speed information in each moment of motion carrier of acquisition in step 2 and the nominal position information in each moment in integrated navigation computer (1) simultaneously；
Step 4: in the process that motion carrier moves along nominal trajectory, the actual output data in each moment of gyroscope and the actual output data in each moment of accelerometer are sent to integrated navigation computer (1) by micro-SINS (2), and the actual ranging data in each moment that wireless location system (3) exports is sent to integrated navigation computer (1)；The meansigma methods of the actual output data of the gyroscope actual output meansigma methods of data and accelerometer is obtained in integrated navigation computer (1), and the meansigma methods of actual ranging data that wireless location system (3) exports；The meansigma methods that the actual output data in each moment of gyroscope deduct gyroscope actual output data in integrated navigation computer (1) obtains the error amount of each moment of gyroscope output data, the actual output data in each moment of accelerometer deducting the meansigma methods of the actual output data of accelerometer and obtains the error amount of each moment of accelerometer output data, the actual ranging data in each moment exported by wireless location system (3) deducts the error amount that the meansigma methods of the actual ranging data that wireless location system (3) exports obtains the ranging data of wireless location system (3) each moment output；
Step 5: in integrated navigation computer (1), each moment nominal of the gyroscope obtained in step 3 is exported data and adds that the error amount of each moment of gyroscope obtained in step 4 output data obtains having each moment of gyroscope output data of true error characteristic；
The nominal in each moment of accelerometer obtained in step 3 is exported data and adds that the error amount of each moment of accelerometer obtained in step 4 output data obtains having each moment of accelerometer output data of true error characteristic；
The nominal ranging data in each moment exported by the wireless location system (3) obtained in step 3 adds that the error amount of the ranging data of wireless location system (3) each moment obtained in step 4 output obtains having the ranging data of wireless location system (3) each moment output of true error characteristic；
Step 6: the ranging data exported in wireless location system (3) each moment with true error characteristic obtained in step 5 in integrated navigation computer (1) is calculated by difference algorithm existing conventional time of advent and obtains motion carrier three dimensional local information under wireless location system (3), then passes through and above-mentioned motion carrier three dimensional local information under wireless location system (3) is carried out differential calculation obtains motion carrier three-dimensional velocity information under wireless location system (3)；
Each moment of the gyroscope with true error characteristic obtained in step 5 output data are completed attitude algorithm by existing Quaternion Method in integrated navigation computer (1) and obtain motion carrier posture changing matrix and three attitude angle of motion carrier: the angle of pitch, roll angle, angle of drift by step 7: while step 6 carries out；Then utilize above-mentioned motion carrier posture changing matrix that each moment of the accelerometer with true error characteristic obtained in step 5 exports data and carry out the motion carrier acceleration information that coordinate transform obtains navigating under system, by the three-dimensional velocity information being integrated obtaining motion carrier under micro-SINS (2) to the motion carrier acceleration information under navigation system, then pass through the three dimensional local information that above-mentioned motion carrier three-dimensional velocity information under micro-SINS (2) is integrated obtains motion carrier under micro-SINS (2)；
Step 8: by the difference of motion carrier three-dimensional velocity information under wireless location system (3) with motion carrier three-dimensional velocity information under micro-SINS (2) in integrated navigation computer (1), and the difference of the three dimensional local information that motion carrier is under wireless location system (3) and motion carrier three dimensional local information under micro-SINS (2) is as observed quantity, builds the measurement equation of Kalman filter equation；Each moment 3 d pose error amount that micro-SINS (2) is carried, each moment three-dimensional velocity error amount, each moment three-dimensional position error amount, the constant value drift value of each moment gyro, the single order Markov error amount of each moment gyro, the single order Markov error amount of each moment accelerometer is as quantity of state, build the state equation of Kalman filter equation, above-mentioned measurement equation and state equation are combined and constitutes Kalman filter equation, actual speed error and the deviations of actual position of micro-SINS (2) is calculated by Kalman filter equation, and the motion carrier velocity information that micro-SINS (2) exported and motion carrier positional information compensate, motion carrier velocity information after compensation and motion carrier positional information are exported by integrated navigation computer (1), this output is as the positioning result of combined system.
2. the localization method of region according to claim 1 wireless location and micro-inertial navigation combined system, it is characterised in that: described micro-SINS (2), wireless location system (3) and path generator (4) are connected with integrated navigation computer (1) respectively through I/O communication module (5).
3. the localization method of region according to claim 1 wireless location and micro-inertial navigation combined system, it is characterised in that: described ranging data is the distance in each moment of motion carrier and the base station of wireless location system (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410022394.0A CN103776442B (en) | 2014-01-17 | 2014-01-17 | The localization method of region wireless location and micro-inertial navigation combined system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410022394.0A CN103776442B (en) | 2014-01-17 | 2014-01-17 | The localization method of region wireless location and micro-inertial navigation combined system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103776442A CN103776442A (en) | 2014-05-07 |
| CN103776442B true CN103776442B (en) | 2016-06-29 |
Family
ID=50568966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410022394.0A Active CN103776442B (en) | 2014-01-17 | 2014-01-17 | The localization method of region wireless location and micro-inertial navigation combined system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103776442B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104833354A (en) * | 2015-05-25 | 2015-08-12 | 梁步阁 | Multibasic multi-module network integration indoor personnel navigation positioning system and implementation method thereof |
| CN104932505B (en) * | 2015-06-08 | 2018-04-13 | 华南理工大学 | Automated navigation system, control method and vertical balanced car based on camera detection |
| CN105091881A (en) * | 2015-09-14 | 2015-11-25 | 南京理工大学 | Indoor positioning method for wireless sensing network and having static state detection function |
| CN108803374B (en) * | 2018-06-07 | 2021-09-21 | 中国人民解放军海军工程大学 | Unmanned ship environment data simulation method |
| CN109489653A (en) * | 2018-10-24 | 2019-03-19 | 中国人民解放军海军工程大学 | A kind of portable combined navigation system and method based on wireless communication |
| CN111142409A (en) * | 2020-01-10 | 2020-05-12 | 北京航天发射技术研究所 | Vehicle-mounted positioning semi-physical simulation method and system based on actually measured data playback |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494684A (en) * | 2011-11-11 | 2012-06-13 | 东南大学 | Navigation information zero tight combination method based on WSN (Wireless Sensors Network)/MINS (Micro Inertial Navigation System) |
| CN102932742A (en) * | 2012-10-12 | 2013-02-13 | 上海交通大学 | Method and system for indoor positioning based on inertial sensor and wireless signal characteristics |
-
2014
- 2014-01-17 CN CN201410022394.0A patent/CN103776442B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102494684A (en) * | 2011-11-11 | 2012-06-13 | 东南大学 | Navigation information zero tight combination method based on WSN (Wireless Sensors Network)/MINS (Micro Inertial Navigation System) |
| CN102932742A (en) * | 2012-10-12 | 2013-02-13 | 上海交通大学 | Method and system for indoor positioning based on inertial sensor and wireless signal characteristics |
Non-Patent Citations (2)
| Title |
|---|
| 区域无线/卫星/惯性组合无缝定位关键技术研究;史岩等;《现代防御技术》;20150831;第43卷(第4期);86-92 * |
| 室内无人飞艇导航系统的研究与仿真;李一波等;《传感器与微系统》;20111231;第30卷(第8期);40 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103776442A (en) | 2014-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103776442B (en) | The localization method of region wireless location and micro-inertial navigation combined system | |
| CN103197279B (en) | Location method of cooperative location system for moving target | |
| CN103995249B (en) | A kind of wireless communication system determining object position and method | |
| CN106093858A (en) | A kind of alignment system based on UWB, RFID, INS multi-source co-located technology and localization method | |
| CN103561462A (en) | Indoor positioning system and method totally based on smart mobile terminal platform | |
| CN107289941A (en) | A kind of indoor orientation method and device based on inertial navigation | |
| CN107014375B (en) | Indoor positioning system and method with ultra-low deployment | |
| CN102116859A (en) | Indoor positioning perception system | |
| CN103207383A (en) | Method for performing two-dimensional wireless positioning on stationary node based on single mobile node | |
| CN102033220A (en) | Indoor wireless positioning information fusion method and system | |
| CN104197930A (en) | Indoor positioning device and method based on inertial guidance and radio frequency identification | |
| CN110081882B (en) | Course measurer and control method for four-rotor unmanned aerial vehicle | |
| CN107238384A (en) | A kind of dual-use intelligent guidance system cooperateed with based on multi-mode | |
| CN107302754A (en) | A kind of indoor positioning simple and easy method based on WiFi and PDR | |
| CN103543434A (en) | Indoor positioning system, indoor positioning cell phone and indoor positioning method | |
| CN103489211A (en) | Method and system for locating and tracking personnel based on three-dimensional simulation model | |
| CN103217154A (en) | Method and device for locating underground personnel in coal mine | |
| CN108139458A (en) | For determining the method, apparatus and system in indoor orientation | |
| CN204150066U (en) | A kind of train positioning system based on RFID and SINS | |
| CN107356902B (en) | WiFi positioning fingerprint data automatic acquisition method | |
| CN205373721U (en) | Three -dimensional dynamic positioning system in underground cable type space | |
| CN206876184U (en) | A kind of indoor positioning device based on RSSI and inertial navigation | |
| CN108332749A (en) | A kind of interior dynamic tracing localization method | |
| CN104457757A (en) | Underground moving target positioning method based on front feedback correction | |
| Yang et al. | UWB/INS Based Indoor Positioning and NLOS Detection Algorithm for Firefighters |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |