CN111397602A - High-precision positioning method and device integrating broadband electromagnetic fingerprint and integrated navigation - Google Patents
High-precision positioning method and device integrating broadband electromagnetic fingerprint and integrated navigation Download PDFInfo
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- CN111397602A CN111397602A CN202010299174.8A CN202010299174A CN111397602A CN 111397602 A CN111397602 A CN 111397602A CN 202010299174 A CN202010299174 A CN 202010299174A CN 111397602 A CN111397602 A CN 111397602A
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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
- G01C21/10—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
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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
- G01C21/10—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
Abstract
The invention discloses a high-precision positioning method for fusing broadband electromagnetic fingerprints and integrated navigation, which comprises the following steps of: step 1, constructing a broadband electromagnetic fingerprint database; the broadband electromagnetic fingerprint database comprises position information of a reference point and corresponding broadband electromagnetic fingerprint characteristics; step 2, collecting broadband electromagnetic signals in real time, extracting broadband electromagnetic fingerprint features from the signals, matching the broadband electromagnetic fingerprint features with electromagnetic fingerprint features in a broadband electromagnetic fingerprint database, and outputting position information of a corresponding reference point if the electromagnetic fingerprint features are matched; and 3, correcting the output of the current integrated navigation by taking the position information of the reference point output in the step 2 as a reference, and realizing high-precision positioning. The invention provides accurate reference position information by using the broadband electromagnetic fingerprint feature matching, so as to correct the output of the combined navigation, realize the optimization of the combined navigation positioning and obviously improve the positioning precision.
Description
Technical Field
The invention relates to the technical field of communication and navigation positioning, in particular to a high-precision positioning method and equipment integrating broadband electromagnetic fingerprints and integrated navigation.
Background
The most common vehicle Navigation systems currently used include satellite Navigation systems (GNSS, such as the U.S. global positioning System GPS, the Chinese Beidou Navigation System BDS, the Russian glonass Navigation System G L ONESS, and the European Galileo Navigation System Galileo), which can provide high-precision positions, but the satellite Navigation signals are weak and are easily interfered and shielded, and cannot be used in urban canyons, tunnels, underground garages, and other occasions.
In order to ensure the continuity of positioning, the satellite navigation system is used in a scene with good satellite navigation usability, and an inertial navigation-based method is used in the scene without satellite navigation. In this case, it is necessary to solve the problem of the navigation accuracy degradation of the inertial navigation method.
In order to solve the problem of accuracy divergence of the inertial navigation method, some auxiliary reference information must be used to correct the inertial navigation error. For example, in the combined navigation of inertial navigation and dead reckoning, a vehicle is parked for a short time at a point with a known preset position, so as to eliminate the positioning error. However, this method is not suitable for use in a tunnel or other non-stop scene.
Wireless communication network based positioning is another approach. The methods realize positioning by measuring certain parameters of wireless communication signals, and can be roughly classified into ranging methods and non-ranging methods. The ranging-based method includes a method of measuring Time of Arrival (TOA), Time difference of Arrival (TDOA), angle of Arrival (AOA), and the like of a radio signal. However, the ranging method has the best performance under the condition of the sight path, and the positioning accuracy is poor in a complex wireless environment. The non-ranging method utilizes the dependence of wireless signal propagation on the environment, and the wireless signals inducted to a group of base stations at each position in the area are different and have certain characteristics similar to fingerprints, so the method is also called fingerprint positioning.
The mature fingerprint positioning technology is mainly used for indoor scenes. For example, a certain number of WiFi hotspots are deployed indoors, a fingerprint library is constructed by measuring signals of various points indoors in a large number, and then the acquired signals are matched with the fingerprint library, so that the position corresponding to the matched fingerprint is the positioning result. The method is also not suitable for scenes such as tunnels and the like which are inconvenient for deploying WiFi hotspots.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, a high-precision positioning method and equipment integrating broadband electromagnetic fingerprints and combined navigation are provided.
The invention provides a high-precision positioning method integrating broadband electromagnetic fingerprints and integrated navigation, which comprises the following steps of:
step 1, constructing a broadband electromagnetic fingerprint database; the broadband electromagnetic fingerprint database comprises position information of a reference point and corresponding broadband electromagnetic fingerprint characteristics;
step 2, collecting broadband electromagnetic signals in real time, extracting broadband electromagnetic fingerprint features from the signals, matching the broadband electromagnetic fingerprint features with the broadband electromagnetic fingerprint features in the broadband electromagnetic fingerprint database, and outputting position information of a corresponding reference point if the broadband electromagnetic fingerprint features are matched;
and 3, taking the position information of the reference point output in the step 2 as a reference, and realizing high-precision positioning by correcting the output of the current integrated navigation.
Further, step 1 comprises the following sub-steps:
step 1.1, collecting a broadband electromagnetic signal of a reference point;
1.2, dividing the acquired broadband electromagnetic signals into I continuous non-overlapping frequency bands according to the frequency use condition to form a frequency cluster;
step 1.3, respectively extracting the electromagnetic fingerprint characteristics of each frequency band in the frequency cluster, and setting the electromagnetic fingerprint characteristics of each frequency band as a column vector consisting of J parameters;
step 1.4, combining the electromagnetic fingerprint features extracted from each frequency band in the frequency cluster to form the broadband electromagnetic fingerprint feature of the reference point, wherein the broadband electromagnetic fingerprint feature can be expressed as a matrix F consisting of J rows and I columnsn(1≤n≤N)；
Step 1.5, correspondingly storing the broadband electromagnetic fingerprint characteristics of all the reference points into a broadband electromagnetic fingerprint database, wherein N reference points are arranged, and the broadband electromagnetic fingerprint database consists of N matrixes F ═ F1F2… FNIs formed by the following steps; and the broadband electromagnetic fingerprint characteristic F of each reference pointnAnd its position information PnCorrespondingly (N is more than or equal to 1 and less than or equal to N).
Further, step 2 comprises the following sub-steps:
step 2.1, collecting broadband electromagnetic signals in real time;
step 2.2, extracting broadband electromagnetic fingerprint characteristics F from the broadband electromagnetic signals collected in real time according to the method in the step 1x；
Step 2.3, the matching degree of the broadband electromagnetic fingerprint characteristics extracted in the step 2.2 and the broadband electromagnetic fingerprint characteristics of each reference point in the broadband electromagnetic fingerprint database is calculated:
(1) calculating the broadband electromagnetic fingerprint feature Fx currently extracted in step 2.2 and each broadband electromagnetic fingerprint feature F in the broadband electromagnetic fingerprint databasen(N is more than or equal to 1 and less than or equal to N) is recorded as the electromagnetic fingerprint distance dn：
Wherein F (i, j) represents the value of the ith row and jth column element of the matrix F;
(2) finding the minimum electromagnetic fingerprint distance dminAnd its corresponding reference point k:
(3) will minimize the value dminDifference threshold d from preset fingerprint0In contrast, if dminLess than the fingerprint difference threshold d0If the current position is at the reference point k, the position information P of the reference point k is outputk(ii) a Otherwise, returning to re-execute step 2.
Further, in step 3, the position information output by the current integrated navigation is corrected: recording the position information P of the reference point k output in step 2kWith the longitude λ of the reference point kkDimension LkAnd height hkIs represented by, i.e. Pk＝(λkLkhk) (ii) a Position information P of current combined navigation outputi＝(λiLihi) Let the position information P of the current reference point kkPosition information P for current combined navigationiNamely:
the invention also provides high-precision positioning equipment fused with the broadband electromagnetic fingerprint and the integrated navigation, which is used for realizing the high-precision positioning method fused with the broadband electromagnetic fingerprint and the integrated navigation; the equipment comprises a combined navigation computer, an inertia measuring device, a milemeter and a power supply module, wherein the inertia measuring device, the milemeter and the power supply module are connected with the combined navigation computer;
the apparatus further comprises:
the broadband electromagnetic signal acquisition module is used for acquiring broadband electromagnetic signals in real time;
the electromagnetic fingerprint matching module is used for extracting broadband electromagnetic fingerprint features from the broadband electromagnetic signals acquired in real time, matching the broadband electromagnetic fingerprint features with the broadband electromagnetic fingerprint features in the broadband electromagnetic fingerprint database, and outputting position information of a corresponding reference point if the broadband electromagnetic fingerprint features are matched; the broadband electromagnetic fingerprint database is pre-constructed and stored in the electromagnetic fingerprint matching module and comprises position information of a reference point and corresponding broadband electromagnetic fingerprint characteristics;
and the integrated navigation correction module takes the position information of the reference point output by the electromagnetic fingerprint matching module as a reference and realizes high-precision positioning by correcting the output of the current integrated navigation.
Wherein the inertial measurement device comprises a MEMS gyroscope and a MEMS accelerometer.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
according to the invention, accurate reference position information is provided for integrated navigation by utilizing broadband electromagnetic fingerprint characteristics, so that the output of the integrated navigation is corrected, the optimization of integrated navigation positioning is realized, and the positioning precision can be obviously improved, thereby solving the problem of low positioning precision caused by error accumulation of a milemeter/inertial navigation system in the current occasions without satellite navigation signals (such as tunnels, underground garages, urban canyons and the like).
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of an application scenario principle of the present invention.
FIG. 2 is a block diagram of a process of the high-precision positioning method of the present invention with integration of broadband electromagnetic fingerprint and integrated navigation.
FIG. 3 is a block diagram of a process for constructing a fingerprint database according to the present invention.
FIG. 4 is a block diagram of the process of extracting broadband electromagnetic fingerprint features and matching fingerprints in real time according to the present invention.
Fig. 5 is a block diagram of the high-precision positioning device with integration of broadband electromagnetic fingerprint and integrated navigation according to 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 detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The design idea of the invention is as follows: as shown in fig. 1, broadband electromagnetic signals are ubiquitous, and are filled in air and even underground tunnels. The main signal types of the broadband electromagnetic signal are a television broadcast signal of a television station, a broadcast signal of a radio station, a signal transmitted by a mobile communication base station, a radar signal and the like. The broadband electromagnetic signals from the fixed station have unique broadband electromagnetic signal characteristics at different positions in space, and the characteristics are electromagnetic fingerprints. Therefore, when the vehicle runs in a tunnel, a low-rise garage, an urban canyon and other scenes, one or more preset reference point positions are provided by using the broadband electromagnetic fingerprint characteristics, so that the correction of the integrated navigation based on inertial navigation is assisted, and the high-precision positioning of the vehicle is realized. Specifically, each preset reference point has broadband electromagnetic fingerprint characteristics and has a precise position obtained through measurement in advance. When a vehicle is carried in an underground tunnel, the combination navigation based on inertial navigation is difficult to provide high-precision positioning for a long time and a long distance, and at the moment, the real-time broadband electromagnetic fingerprint characteristics are dynamically matched with the broadband electromagnetic fingerprint characteristics of the reference points. When the real-time broadband electromagnetic fingerprint features are matched with the broadband electromagnetic fingerprint features of a certain reference point, the vehicle carrier is considered to reach the corresponding reference point. At the moment, the error of the integrated navigation is corrected by taking the accurate position of the reference point as a basis, so that the high-precision navigation positioning is realized.
The features and properties of the present invention are described in further detail below with reference to examples.
Example 1
As shown in fig. 2, the high-precision positioning method with fusion of broadband electromagnetic fingerprint and integrated navigation provided by this embodiment includes the following steps:
step 1, constructing a broadband electromagnetic fingerprint database; the broadband electromagnetic fingerprint database comprises position information of a reference point and corresponding broadband electromagnetic fingerprint characteristics;
step 2, collecting broadband electromagnetic signals in real time, extracting broadband electromagnetic fingerprint features from the signals, matching the broadband electromagnetic fingerprint features with the broadband electromagnetic fingerprint features in the broadband electromagnetic fingerprint database, and outputting position information of a corresponding reference point if the broadband electromagnetic fingerprint features are matched;
and 3, taking the position information of the reference point output in the step 2 as a reference, and realizing high-precision positioning by correcting the output of the current integrated navigation.
Firstly, a broadband electromagnetic fingerprint database is constructed in advance through a step 1, as shown in fig. 3, the step 1 includes the following sub-steps:
step 1.1, collecting a broadband electromagnetic signal of a reference point;
1.2, dividing the acquired broadband electromagnetic signals into I continuous non-overlapping frequency bands according to the frequency use condition to form a frequency cluster;
step 1.3, respectively extracting the electromagnetic fingerprint characteristics of each frequency band in the frequency cluster, and setting the electromagnetic fingerprint characteristics of each frequency band as a column vector consisting of J parameters;
step 1.4, combining the electromagnetic fingerprint features extracted from each frequency band in the frequency cluster to form the broadband electromagnetic fingerprint feature of the reference point, wherein the broadband electromagnetic fingerprint feature can be expressed as a matrix F consisting of J rows and I columnsn(1≤n≤N)；
Step 1.5, correspondingly storing the broadband electromagnetic fingerprint characteristics of all the reference points into a broadband electromagnetic fingerprint database, wherein N reference points are arranged, and the broadband electromagnetic fingerprint database consists of N matrixes F ═ F1F2… FNIs formed by the following steps; and the broadband electromagnetic fingerprint characteristic F of each reference pointnAnd its position information PnCorrespondingly (N is more than or equal to 1 and less than or equal to N).
The broadband electromagnetic fingerprint database is established by determining the broadband electromagnetic fingerprint characteristics on the position information of the reference point in advance and then providing the broadband electromagnetic fingerprint characteristics to the step 2 for electromagnetic fingerprint matching.
Secondly, the matching degree of the broadband electromagnetic fingerprint characteristics acquired by the vehicle in real time is calculated by utilizing a fingerprint database, as shown in fig. 4, the step 2 comprises the following substeps:
step 2.1, collecting broadband electromagnetic signals in real time;
step 2.2, extracting broadband electromagnetic fingerprint characteristics F from the broadband electromagnetic signals collected in real time according to the method in the step 1x；
Step 2.3, the matching degree of the broadband electromagnetic fingerprint characteristics extracted in the step 2.2 and the broadband electromagnetic fingerprint characteristics of each reference point in the broadband electromagnetic fingerprint database is calculated:
(1) calculating the broadband electromagnetic fingerprint feature Fx currently extracted in step 2.2 and each broadband electromagnetic fingerprint feature F in the broadband electromagnetic fingerprint databasen(N is more than or equal to 1 and less than or equal to N) is recorded as the electromagnetic fingerprint distance dn：
Wherein F (i, j) represents the value of the ith row and jth column element of the matrix F;
(2) finding the minimum electromagnetic fingerprint distance dminAnd its corresponding reference point k:
(3) will minimize the value dminDifference threshold d from preset fingerprint0In contrast, if dminLess than the fingerprint difference threshold d0If the current position is at the reference point k, the position information P of the reference point k is outputk(ii) a Otherwise, returning to re-execute step 2.
That is to say, various broadband electromagnetic signals are continuously collected in the driving process of the vehicle, and real-time broadband electromagnetic fingerprint characteristics are extracted. Then matching the real-time broadband electromagnetic fingerprint characteristics with the broadband electromagnetic fingerprint characteristics in the fingerprint database, calculating Euclidean distances between the real-time electromagnetic fingerprint characteristics and the electromagnetic fingerprints of all reference points in the database, and calculating the minimum electromagnetic fingerprint distance dminLess than a predetermined fingerprint difference threshold d0And then, considering that the vehicle is driven to the reference point k at the moment, and outputting the position information P of the reference point kk。
And finally, correcting the combined navigation according to the matched position information. Step 3 comprises the following processes:
recording the position information P of the reference point k output in step 2kWith the longitude λ of the reference point kkDimension LkAnd height hkIs represented by, i.e. Pk＝(λkLkhk) (ii) a Position information P of current combined navigation outputi＝(λiLihi) Let the position information P of the current reference point kkPosition information P for current combined navigationiNamely:
therefore, high-precision positioning of fusion of broadband electromagnetic fingerprints and combined navigation is completed.
Example 2
Based on the high-precision positioning method for fusing the broadband electromagnetic fingerprint and the combined navigation, which is realized in embodiment 1, the present embodiment realizes a high-precision positioning device for fusing the broadband electromagnetic fingerprint and the combined navigation.
As shown in fig. 5, the apparatus includes a combined navigation computer, and an inertia measurement device, an odometer and a power supply module connected to the combined navigation computer; wherein the content of the first and second substances,
an inertial measurement device for measuring inertial navigation signals, comprising: a MEMS gyroscope for measuring a rotational angular velocity of the carrier; a MEMS accelerometer for measuring the acceleration of motion of the carrier;
the odometer is used for providing the movement speed information of the vehicle carrier;
the power supply module is used for supplying power to the equipment;
the integrated navigation computer is used for processing measurement signals of an inertial measurement device (comprising an MEMS gyroscope and an MEMS accelerometer) and output signals of a milemeter, performing inertial navigation calculation and integrated navigation filtering calculation, and outputting integrated navigation parameters (comprising position information, speed, course angle and other information);
further, the apparatus further comprises:
the broadband electromagnetic signal acquisition module is used for acquiring broadband electromagnetic signals of the vehicle loader in real time;
the electromagnetic fingerprint matching module is used for extracting broadband electromagnetic fingerprint features from the broadband electromagnetic signals acquired in real time, matching the broadband electromagnetic fingerprint features with the broadband electromagnetic fingerprint features in the fingerprint database, taking the reference points corresponding to the matched broadband electromagnetic fingerprint features as current reference points, and outputting position information of the current reference points; the fingerprint database is pre-constructed and stored in the electromagnetic fingerprint matching module and comprises position information of a reference point and corresponding broadband electromagnetic fingerprint characteristics;
and the integrated navigation correction module takes the position information of the current reference point output by the electromagnetic fingerprint matching module as a reference, and realizes high-precision positioning by correcting the output of the current integrated navigation computer.
The functions implemented in the broadband electromagnetic signal acquisition module, the electromagnetic fingerprint matching module, and the combined navigation correction module may refer to the corresponding contents in embodiment 1, and are not described herein again.
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 (6)
1. A high-precision positioning method for fusing broadband electromagnetic fingerprints and integrated navigation is characterized by comprising the following steps:
step 1, constructing a broadband electromagnetic fingerprint database; the broadband electromagnetic fingerprint database comprises position information of a reference point and corresponding broadband electromagnetic fingerprint characteristics;
step 2, collecting broadband electromagnetic signals in real time, extracting broadband electromagnetic fingerprint features from the signals, matching the broadband electromagnetic fingerprint features with electromagnetic fingerprint features in a broadband electromagnetic fingerprint database, and outputting position information of a corresponding reference point if the electromagnetic fingerprint features are matched;
and 3, correcting the output of the current integrated navigation by taking the position information of the reference point output in the step 2 as a reference, and realizing high-precision positioning.
2. The method for high-precision positioning of fusion of broadband electromagnetic fingerprint and integrated navigation according to claim 1, wherein the step 1 comprises the following sub-steps:
step 1.1, collecting a broadband electromagnetic signal of a reference point;
1.2, dividing the acquired broadband electromagnetic signals into I continuous non-overlapping frequency bands according to the frequency use condition to form a frequency cluster;
step 1.3, respectively extracting the electromagnetic fingerprint characteristics of each frequency band in the frequency cluster, and setting the electromagnetic fingerprint characteristics of each frequency band as a column vector consisting of J parameters;
step 1.4, combining the electromagnetic fingerprint characteristics extracted from each frequency band in the frequency cluster to form the broadband electromagnetic fingerprint characteristics of the reference point; the broadband electromagnetic fingerprint features can be represented as a matrix F consisting of J rows and I columnsn(1≤n≤N)；
Step 1.5, correspondingly storing the broadband electromagnetic fingerprint characteristics of all the reference points as broadband electromagnetic fingerprint dataA database with N reference points, wherein the wide-band electromagnetic fingerprint database consists of N matrixes F ═ { F }1F2…FNIs formed by the following steps; and the broadband electromagnetic fingerprint characteristic F of each reference pointnAnd its position information PnCorrespondingly (N is more than or equal to 1 and less than or equal to N).
3. The method for high-precision positioning of fusion of broadband electromagnetic fingerprint and integrated navigation according to claim 1, wherein the step 2 comprises the following sub-steps:
step 2.1, collecting broadband electromagnetic signals in real time;
step 2.2, extracting broadband electromagnetic fingerprint characteristics F from the broadband electromagnetic signals collected in real time according to the method in the step 1x；
Step 2.3, the matching degree of the broadband electromagnetic fingerprint characteristics extracted in the step 2.2 and the broadband electromagnetic fingerprint characteristics of each reference point in the broadband electromagnetic fingerprint database is calculated:
(1) calculating the broadband electromagnetic fingerprint feature F currently extracted by step 2.2xAnd each broadband electromagnetic fingerprint characteristic F in the broadband electromagnetic fingerprint databasen(N is more than or equal to 1 and less than or equal to N) is recorded as the electromagnetic fingerprint distance dn：
Wherein F (i, j) represents the value of the ith row and jth column element of the matrix F;
(2) finding the minimum electromagnetic fingerprint distance dminAnd its corresponding reference point k:
(3) will minimize the value dminDifference threshold d from preset fingerprint0In contrast, if dminLess than the fingerprint difference threshold d0If the current position is at the reference point k, the position information P of the reference point k is outputk(ii) a Otherwise, returning to re-execute step 2.
4. The method for high-precision positioning of the fusion of broadband electromagnetic fingerprint and integrated navigation according to claim 1, wherein in step 3, the position information outputted by the current integrated navigation is modified: recording the position information P of the reference point k output in step 2kWith the longitude λ of the reference point kkDimension LkAnd height hkIs represented by, i.e. Pk＝(λkLkhk) (ii) a Position information P of current combined navigation outputi＝(λiLihi) Let the position information P of the current reference point kkPosition information P for current combined navigationiNamely:
5. a high-precision positioning device for fusing broadband electromagnetic fingerprints and combined navigation, which is used for realizing the high-precision positioning method for fusing broadband electromagnetic fingerprints and combined navigation according to any one of claims 1 to 4; the equipment comprises a combined navigation computer, an inertia measuring device, a milemeter and a power supply module, wherein the inertia measuring device, the milemeter and the power supply module are connected with the combined navigation computer; characterized in that the device further comprises:
the broadband electromagnetic signal acquisition module is used for acquiring broadband electromagnetic signals in real time;
the electromagnetic fingerprint matching module is used for extracting broadband electromagnetic fingerprint features from the broadband electromagnetic signals acquired in real time, matching the broadband electromagnetic fingerprint features with the broadband electromagnetic fingerprint features in the broadband electromagnetic fingerprint database, and outputting position information of a corresponding reference point if the broadband electromagnetic fingerprint features are matched; the broadband electromagnetic fingerprint database is pre-constructed and stored in the electromagnetic fingerprint matching module and comprises position information of a reference point and corresponding broadband electromagnetic fingerprint characteristics;
and the integrated navigation correction module takes the position information of the reference point output by the electromagnetic fingerprint matching module as a reference and realizes high-precision positioning by correcting the output of the current integrated navigation.
6. The broadband electromagnetic fingerprint and combined navigation fused high precision positioning device according to claim 5, wherein the inertial measurement devices comprise MEMS gyroscopes and MEMS accelerometers.
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| CN113959438A (en) * | 2021-10-20 | 2022-01-21 | 广东电力通信科技有限公司 | Navigation positioning method based on multi-source data fusion and storage medium |
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