CN111288983B - Indoor long and narrow belt positioning method suitable for multi-source fusion - Google Patents

Indoor long and narrow belt positioning method suitable for multi-source fusion Download PDF

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CN111288983B
CN111288983B CN202010136242.9A CN202010136242A CN111288983B CN 111288983 B CN111288983 B CN 111288983B CN 202010136242 A CN202010136242 A CN 202010136242A CN 111288983 B CN111288983 B CN 111288983B
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pseudolite
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CN111288983A (en
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蔚保国
范广伟
李隽�
甘兴利
祝瑞辉
黄璐
张衡
程建强
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CETC 54 Research Institute
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    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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

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Abstract

The invention provides an indoor long and narrow belt positioning method suitable for multi-source fusion, belongs to the field of indoor navigation positioning, and aims at the high-precision navigation positioning problem of indoor passages, corridors and stairs, a multi-source fusion mode of pseudolite, inertial navigation and map constraint is adopted, inertial navigation data is corrected in real time through the motion range and the advancing path of a map constraint target and the pseudolite, and the current positioning result is corrected in real time according to the previous positioning result, so that the influence of indoor multipath on the positioning precision is reduced, the fusion positioning precision is improved, and the seamless connection of indoor and outdoor navigation positioning is realized.

Description

Indoor long and narrow belt positioning method suitable for multi-source fusion
Technical Field
The invention relates to a multi-source fusion-based navigation positioning problem solving method for long and narrow areas such as indoor corridors, channels, stairs and the like, and belongs to an easily-realized solving method in the field of indoor navigation positioning.
Background
In recent years, research on indoor positioning technologies mainly focuses on positioning technologies such as Wi-Fi, bluetooth, ultra wideband, and classical pseudolite. These mainstream indoor positioning technologies have different advantages, but have various limitations, and are difficult to be a completely satisfactory solution. The realization of human and object positioning in indoor environment is still a major challenge, and the realization of seamless connection between outdoor and indoor positioning technology is still a bottleneck.
The pseudo satellite array can solve the problem of navigation and positioning in a large venue, but the pseudo satellite array cannot be positioned due to the fact that a plurality of pseudo satellite signals cannot be visually received in the corridor, the channel, the stairs and other areas. Therefore, a navigation positioning method suitable for the long and narrow environment is required to be considered in the areas of corridors, passages, stairs and the like, an indoor long and narrow zone positioning method suitable for multi-source fusion is provided according to the environment characteristics, and the navigation positioning precision of the pseudolite under the indoor complex environment is improved by adopting a multi-source fusion processing form of pseudolite, inertial navigation and map constraint.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the high-precision navigation and positioning problems of indoor channels, corridors and stairs, the indoor long and narrow belt positioning method suitable for multi-source fusion is provided, a multi-source fusion processing form of pseudolite, inertial navigation and map constraint is adopted, real-time navigation and positioning of targets of the indoor channels, corridors and stairs are achieved, seamless connection of indoor and outdoor navigation and positioning is achieved, and the navigation and positioning precision under indoor complex environments is greatly improved.
The technical scheme adopted by the invention is as follows: an indoor elongate zone positioning method suitable for multi-source fusion, comprising the following steps for realizing the method:
(1) constructing an indoor map, converting the relative position of the indoor map into the absolute position of a geodetic coordinate system through a set indoor map reference point to form an indoor positioning global map, erecting a pseudolite at a position point which can cover the whole indoor area, and recording the coordinates of the pseudolite; the method comprises the steps that a receiver and inertial navigation are installed on the same carrier, a reference point is set at a position where an indoor pseudo satellite signal can be received and accurate coordinates can be provided, a map is loaded according to the position of the reference point to record the direction of a central line of an indoor area and the movement direction of the inertial navigation, and the distance between the reference point and the pseudo satellite at the initial moment is calculated;
(2) estimating the change rate of the pseudo range of the receiver according to the change rate of the carrier phase, judging whether the carrier phase jumps or not, adjusting the change rate of the pseudo range by increasing or decreasing half wavelength to enable the change rate of the pseudo range to be within a set change range, and calculating the distance between the receiver and the pseudolite at the current moment according to the adjusted change rate of the pseudo range;
(3) obtaining an inertial navigation estimated position at the current moment by adopting inertial navigation recursion according to a positioning value of a carrier at the previous moment, calculating the distance from a point in an inertial navigation error range to the pseudolite by taking an inertial navigation estimated coordinate as a center, and carrying out difference with the distance measured by a receiver from the pseudolite, wherein the point with the minimum difference absolute value is a positioning point fused with the pseudolite and the inertial navigation;
(4) calculating the position of the carrier on the central line of the corridor according to the central line constraint of the corridor and the prior knowledge;
(5) and (3) performing weighted fusion positioning on the positioning point fused by the pseudolite and the inertial navigation and the position of the carrier on the center line of the corridor by using a weighted fusion method, judging whether the current positioning result is reasonable or not according to the positioning result at the previous moment, returning to the step (2) to recalculate the weighted fusion weight if the difference between the current positioning result and the positioning result at the previous moment is greater than a set threshold, and correcting the positioning result, otherwise, obtaining the final positioning result by using the weighted fusion positioning result.
Wherein, the step (2) comprises the following steps:
(201) let the phase of the carrier received at the current time i be
Figure BDA0002397416280000021
The carrier phase received at the last instant i-1 is
Figure BDA0002397416280000022
The rate of change of the carrier phase is
Figure BDA0002397416280000023
Calculating a corresponding pseudorange rate of change of
Figure BDA0002397416280000025
Where λ is the wavelength of one carrier period, Δ piIs the receiver pseudo range rate of change;
(202) correcting the pseudo-range change rate according to the carrier behavior state prior knowledge to obtain the corrected pseudo-range change rate delta pi'; the method of correction is to make Δ piAnd a set pseudo-range change threshold TpFor comparison, if Δ pi＜Tp，Δp'i＝ΔpiIf Δ pi≥TpThen, then
Figure BDA0002397416280000024
n is made of delta p'i＜TpA first value of (d); the carrier behavior state prior knowledge comprises the maximum running speed of the carrier and the environment of the carrier;
(203) calculating the distance p between the receiver and the pseudolite at the current moment according to the distance between the receiver and the pseudolite deduced at the previous momenti＝pi-1+Δp'i(ii) a Wherein p isi-1The distance between the receiver and the pseudolite at the last time.
Wherein, the step (3) comprises the following steps:
(301) obtaining the inertial navigation estimated position coordinate of the current moment i according to the position of the previous moment i-1 and the data recursion of the inertial navigation
Figure BDA0002397416280000038
Wherein the content of the first and second substances,
Figure BDA0002397416280000039
estimating position coordinates for inertial navigation at a current time i, (x)i-1,yi-1,zi-1) As a result of the positioning of the carrier at the previous instant i-1, viInertial navigation speed from moment i-1 to moment i, T is sampling time interval, alphaiThe inertial navigation course angle at the moment i is obtained;
(302) taking the inertial navigation estimated coordinate as a center, calculating the distance from a point in an error range to the pseudolite by the following formula,
Figure BDA0002397416280000031
wherein
Figure BDA0002397416280000032
Wherein, the delta phi is the estimated error of the inertial navigation angle-delta phimax≤Δφ≤φmax，φmaxFor the angle estimation maximum error, Δ v is the inertial navigation velocity estimation error, vmaxEstimating maximum error- Δ v for velocitymax≤Δv≤vmax，xG，yG，zGCoordinates of a pseudolite;
is provided with
Figure BDA0002397416280000033
Changing the values of delta phi and delta v in the error range of inertial navigation angle and speed, and finding out
Figure BDA0002397416280000034
Minimum delta phi and delta v, corresponding coordinate points
Figure BDA0002397416280000035
Namely a positioning point fused with inertial navigation and pseudolite
Figure BDA0002397416280000036
Wherein, the calculation formula of the carrier position on the central line of the corridor calculated according to the central line constraint of the corridor and the prior knowledge in the step (4) is as follows:
Figure BDA0002397416280000037
in the formula, betaiIs the included angle between the central line direction at the moment i and the inertial navigation zero direction.
Wherein, the step (5) comprises the following steps:
(501) the two positioning points are weighted, fused and positioned by a weighted fusion method, and the calculation formula is
Figure BDA0002397416280000041
Obtaining a fusion anchor point of the current position, wherein omega1，ω2Constraint coefficients weighted for fusion and satisfying the condition omega1+ω21, wherein
Figure BDA0002397416280000042
(502) Root of herbaceous plantJudging whether the positioning result is in the set carrier motion step range T or not according to the carrier form and the motion state prior informationthIn which T isth＝vmaxT, i.e. if: mi-Mi-1≤TthIf M is equal to M, the current positioning result is correcti-Mi-1＞TthThen, the procedure returns to step 2, so that n is n +1, and M is recalculatediUp to Mi-Mi-1≤TthObtaining MiNamely the positioning result at the current moment.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an indoor long and narrow belt positioning method suitable for multi-source fusion, which adopts a pseudo satellite + inertial navigation + map constraint mode and solves the problem of navigation and positioning of long and narrow belts such as indoor channels, corridors, stair ascending and descending positions and the like by utilizing fusion processing of various parameters. The method can solve the problems that pseudo satellites in various channels, corridors and stair ascending and descending positions are difficult to cover or the coverage cost is high; and the method can realize positioning only by receiving one pseudolite, is simple to realize, and is a beneficial supplement of indoor and outdoor seamless positioning.
Drawings
Fig. 1 is a schematic block diagram of an indoor elongate zone location method suitable for multi-source fusion according to the present invention.
Fig. 2 is a flow chart of an indoor elongate zone location method suitable for multi-source fusion in accordance with the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings. Referring to fig. 1, a schematic block diagram of the present invention and fig. 2, a flowchart of an indoor long and narrow zone positioning method suitable for multi-source fusion disclosed in the embodiment of the present invention specifically includes the following steps:
(1) constructing an indoor map, converting the relative position of the indoor map into the absolute position of a geodetic coordinate system through a set indoor map reference point to form an indoor positioning global map, erecting a pseudolite at a proper position point, and recording a pseudolite coordinate G ═ xG,yG,zG) Wherein x isG,yG,zGCoordinates on three axes of a rectangular coordinate system are obtained; the receiver and the inertial navigation system are arranged on the same carrier, and a reference point M is arranged at a position where the indoor pseudo-satellite signal can be received and accurate coordinates can be provided0＝(x0,y0,z0) Recording the number of carrier cycles of the reference point
Figure BDA0002397416280000051
Inertial velocity v0Estimating direction alpha by multi-sensor fusion0Loading indoor map, determining central line direction beta of current corridor and stairs0Identifying the state of the carrier defines the maximum speed v of travel of the carriermaxCalculating the distance between the receiver and the pseudolite at the initial moment
Figure BDA0002397416280000052
(2) Estimating the change rate of the pseudo range of the receiver according to the change rate of the carrier phase, judging whether the carrier phase jumps or not, adjusting the change rate of the pseudo range by increasing or decreasing half wavelength to enable the change rate to be within a set change range, and estimating the distance between the receiver and the pseudolite at the current moment according to the adjusted change rate of the pseudo range;
(202) correcting the pseudo range change rate according to prior knowledge such as carrier behavior state and the like to obtain the corrected pseudo range change rate delta p'i(ii) a The method of correction is Δ piAnd a set pseudo-range change threshold TpBy comparison, if Δ pi＜Tp，Δp'i＝ΔpiIf Δ pi≥TpThen, then
Figure BDA0002397416280000053
n is made of delta p'i＜TpThe first value of (1).
(203) Calculating the distance p between the receiver and the pseudolite at the current moment according to the distance between the receiver and the pseudolite deduced at the previous momenti＝pi-1+Δp'iWherein p isi-1The distance between the receiver and the pseudolite at the last time.
(3) Obtaining an inertial navigation estimated position of the current moment by adopting inertial navigation recursion according to a positioning value of the previous moment, calculating the distance from a point in an inertial navigation error range to a reference pseudolite by taking an inertial navigation estimated coordinate as a center, and making a difference with a pseudolite pseudo range measured by a receiver, wherein the point with the minimum difference absolute value is a positioning point fused with the pseudolite and the inertial navigation, and the method comprises the following two steps:
(301) obtaining the inertial navigation estimated position coordinate of the current moment i according to the position of the previous moment i-1 and the data recursion of the inertial navigation
Figure BDA0002397416280000054
Wherein the content of the first and second substances,
Figure BDA0002397416280000055
estimating position coordinates for inertial navigation at a current time i, (x)i-1,yi-1,zi-1) As a result of the positioning of the carrier at the previous instant i-1, viInertial navigation speed from moment i-1 to moment i, T is sampling time interval, alphaiThe inertial navigation course angle at the moment i is obtained;
(302) taking the inertial navigation estimated coordinate as a center, calculating the distance from a point in an error range to the pseudolite by the following formula,
Figure BDA0002397416280000056
wherein
Figure BDA0002397416280000061
Wherein, the delta phi is the estimated error of the inertial navigation angle-delta phimax≤Δφ≤φmax，φmaxFor the angle estimation maximum error, Δ v is the inertial navigation velocity estimation error, vmaxEstimating maximum error- Δ v for velocitymax≤Δv≤vmax，xG，yG，zGCoordinates of a pseudolite;
is provided with
Figure BDA0002397416280000062
Changing the values of delta phi and delta v in the error range of inertial navigation angle and speed, and finding out
Figure BDA0002397416280000063
Minimum delta phi and delta v, corresponding coordinate points
Figure BDA0002397416280000064
Namely a positioning point fused with inertial navigation and pseudolite
Figure BDA0002397416280000065
(4) Calculating the position of the carrier on the central line of the corridor according to the central line constraint of the corridor and the prior knowledge
Figure BDA0002397416280000066
Wherein beta isiThe included angle between the direction of the central line at the moment i and the inertial navigation zero direction (usually the true north direction);
(5) and performing weighted fusion positioning on the two positioning points by using a weighted fusion method, calculating whether the current positioning result is reasonable or not according to the last positioning result, and recalculating the fusion weight value and correcting the positioning result if the difference between the current positioning result and the last positioning result sets a threshold.
(501) The two positioning points are weighted, fused and positioned by a weighted fusion method, and the calculation formula is
Figure BDA0002397416280000067
Obtaining a fusion anchor point of the current position, wherein omega1，ω2Constraint coefficients weighted for fusion and satisfying the condition omega1+ω21, wherein
Figure BDA0002397416280000068
(502) Judging whether the positioning result is in the set carrier motion step range T or not according to the prior information such as the form, the motion state and the like of the carrierthIn which T isth＝vmaxT is if: mi-Mi-1≤TthIf M is equal to M, the current positioning result is considered to be correcti-Mi-1＞TthThen, the procedure returns to step 2, so that n is n +1, and M is recalculatediUp to Mi-Mi-1≤TthCurrently obtained MiNamely the positioning result at the current moment.

Claims (5)

1. An indoor long and narrow zone positioning method suitable for multi-source fusion is characterized by comprising the following steps:
(1) constructing an indoor map, converting the relative position of the indoor map into the absolute position of a geodetic coordinate system through a set indoor map reference point to form an indoor positioning global map, erecting a pseudolite at a position point which can cover the whole indoor area, and recording the coordinates of the pseudolite; the method comprises the steps that a receiver and inertial navigation are installed on the same carrier, a reference point is set at a position where an indoor pseudo satellite signal can be received and accurate coordinates can be provided, a map is loaded according to the position of the reference point to record the direction of a central line of an indoor area and the movement direction of the inertial navigation, and the distance between the reference point and the pseudo satellite at the initial moment is calculated;
(2) estimating the change rate of the pseudo range of the receiver according to the change rate of the carrier phase, judging whether the carrier phase jumps or not, adjusting the change rate of the pseudo range by increasing or decreasing half wavelength to enable the change rate of the pseudo range to be within a set change range, and calculating the distance between the receiver and the pseudolite at the current moment according to the adjusted change rate of the pseudo range;
(3) obtaining an inertial navigation estimated position at the current moment by adopting inertial navigation recursion according to a positioning value of a carrier at the previous moment, calculating the distance from a point in an inertial navigation error range to the pseudolite by taking an inertial navigation estimated coordinate as a center, and carrying out difference with the distance measured by a receiver from the pseudolite, wherein the point with the minimum difference absolute value is a positioning point fused with the pseudolite and the inertial navigation;
(4) calculating the position of the carrier on the central line of the corridor according to the central line constraint of the corridor and the prior knowledge;
(5) and (3) performing weighted fusion positioning on the positioning point fused by the pseudolite and the inertial navigation and the position of the carrier on the center line of the corridor by using a weighted fusion method, judging whether the current positioning result is reasonable or not according to the positioning result at the previous moment, returning to the step (2) to recalculate the weighted fusion weight if the difference between the current positioning result and the positioning result at the previous moment is greater than a set threshold, and correcting the positioning result, otherwise, obtaining the final positioning result by using the weighted fusion positioning result.
2. The indoor elongate zone positioning method suitable for multi-source fusion according to claim 1, characterized in that the step (2) comprises the following steps:
(201) let the phase of the carrier received at the current time i be
Figure FDA0002397416270000011
The carrier phase received at the last instant i-1 is
Figure FDA0002397416270000012
The rate of change of the carrier phase is
Figure FDA0002397416270000013
Calculating a corresponding pseudorange rate of change of
Figure FDA0002397416270000014
Where λ is the wavelength of one carrier period, Δ piIs the receiver pseudo range rate of change;
(202) correcting the pseudo range change rate according to carrier behavior state prior knowledge to obtain the corrected pseudo range change rate delta p'i(ii) a The method of correction is to make Δ piAnd a set pseudo-range change threshold TpFor comparison, if Δ pi＜Tp，Δp′i＝ΔpiIf Δ pi≥TpThen, then
Figure FDA0002397416270000021
n is made of delta p'i＜TpA first value of (d); the carrier behavior state prior knowledge comprises the maximum running speed of the carrier and the environment of the carrier;
(203) calculating the current time of reception according to the distance between the receiver and the pseudolite deduced from the previous timeDistance p between machine and pseudolitei＝pi-1+Δp′i(ii) a Wherein p isi-1The distance between the receiver and the pseudolite at the last time.
3. The indoor long and narrow zone positioning method suitable for multi-source fusion of claim 2, characterized in that the step (3) comprises the following steps:
(301) obtaining the inertial navigation estimated position coordinate of the current moment i according to the position of the previous moment i-1 and the data recursion of the inertial navigation
Figure FDA0002397416270000022
Wherein the content of the first and second substances,
Figure FDA0002397416270000023
estimating position coordinates for inertial navigation at a current time i, (x)i-1,yi-1,zi-1) As a result of the positioning of the carrier at the previous instant i-1, viInertial navigation speed from moment i-1 to moment i, T is sampling time interval, alphaiThe inertial navigation course angle at the moment i is obtained;
(302) taking the inertial navigation estimated coordinate as a center, calculating the distance from a point in an error range to the pseudolite by the following formula,
Figure FDA0002397416270000024
wherein
Figure FDA0002397416270000025
Wherein, the delta phi is the estimated error of the inertial navigation angle-delta phimax≤Δφ≤φmax，φmaxFor the angle estimation maximum error, Δ v is the inertial navigation velocity estimation error, vmaxEstimating maximum error- Δ v for velocitymax≤Δv≤vmax，xG，yG，zGCoordinates of a pseudolite;
is provided with
Figure FDA0002397416270000026
Changing the values of delta phi and delta v in the error range of inertial navigation angle and speed, and finding out
Figure FDA0002397416270000027
Minimum delta phi and delta v, corresponding coordinate points
Figure FDA0002397416270000028
Namely a positioning point fused with inertial navigation and pseudolite
Figure FDA0002397416270000029
4. An indoor elongate zone positioning method suitable for multi-source fusion according to claim 3, wherein the calculation formula of the step (4) for calculating the position of the carrier on the centerline of the corridor according to the centerline constraint of the corridor and the prior knowledge is as follows:
Figure FDA0002397416270000031
wherein, betaiIs the included angle between the central line direction at the moment i and the inertial navigation zero direction.
5. An indoor elongate zone positioning method suitable for multi-source fusion according to claim 4, characterized in that the step (5) comprises the following steps:
(501) the two positioning points are weighted, fused and positioned by a weighted fusion method, and the calculation formula is
Figure FDA0002397416270000032
Obtaining a fusion positioning point of the current position carrier, wherein omega1，ω2Constraint coefficients weighted for fusion and satisfying the condition omega1+ω21, wherein
Figure FDA0002397416270000033
(502) Depending on the form of the carrier andthe prior information of the motion state judges whether the positioning result is in the set carrier motion step range T or notthIn which T isth＝vmaxT, i.e. if: mi-Mi-1≤TthIf M is equal to M, the current carrier is located correctlyi-Mi-1＞TthThen, the procedure returns to step 2, so that n is n +1, and M is recalculatediUp to Mi-Mi-1≤TthObtaining MiNamely the positioning result of the carrier at the current moment.
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