CN111504306A - Positioning method, device and system based on inertial navigation - Google Patents
Positioning method, device and system based on inertial navigation Download PDFInfo
- Publication number
- CN111504306A CN111504306A CN202010212358.6A CN202010212358A CN111504306A CN 111504306 A CN111504306 A CN 111504306A CN 202010212358 A CN202010212358 A CN 202010212358A CN 111504306 A CN111504306 A CN 111504306A
- Authority
- CN
- China
- Prior art keywords
- target
- inertial navigation
- determining
- attitude
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 239000013598 vector Substances 0.000 claims abstract description 93
- 239000002245 particle Substances 0.000 description 5
- 238000000354 decomposition reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention provides a positioning method, a positioning device and a positioning system based on inertial navigation, and relates to the technical field of signal positioning. The invention relates to a positioning method based on inertial navigation, which comprises the following steps: acquiring a characteristic vector of a magnetic beacon at a target, acquiring state output of an inertial navigation system, and determining the position of the target according to the state output and the characteristic vector; and determining a position error and an attitude error according to the position of the target, and adjusting the position and the attitude of the inertial navigation system according to the position error and the attitude error. According to the technical scheme, the navigation service scheme which has long working time, is stable and has the function of positioning and positioning the attitude is realized in the complex environment with a large number of obstacles such as underground and indoor environments by generating the low-frequency magnetic field characteristic vector through the magnetic beacon, and the accumulated errors of the position and the attitude of the inertial navigation system are corrected according to the characteristic that the errors are not accumulated along with the time, so that the system precision of combined navigation is effectively improved.
Description
Technical Field
The invention relates to the technical field of signal positioning, in particular to a positioning method, a positioning device and a positioning system based on inertial navigation.
Background
With the development of science and technology, people have increasingly strong demands on positioning services. In the outdoor environment, with the improvement and popularization of satellite navigation systems such as GPS, Beidou and the like, the positioning precision service basically meets the daily requirements of people; however, in some harsh environments, such as conditions with dense obstacles and occlusion, the positioning accuracy may not be guaranteed by the navigation signals such as GPS.
Disclosure of Invention
The invention solves the problem that the prior art has poor precision and can not meet the navigation positioning requirement under the special navigation environment.
In order to solve the above problems, the present invention provides a positioning method based on inertial navigation, comprising: acquiring a characteristic vector of a magnetic beacon at a target, acquiring state output of an inertial navigation system, and determining the position of the target according to the state output and the characteristic vector; and determining a position error and an attitude error according to the position of the target, and adjusting the position and the attitude of the inertial navigation system according to the position error and the attitude error.
The positioning method based on inertial navigation realizes a navigation service scheme which has long working time, is stable and has a positioning and attitude-fixing function in complex environments with a large number of obstacles such as underground and indoor environments by a mode of generating low-frequency magnetic field characteristic vectors by magnetic beacons, corrects the position and attitude accumulation errors of an inertial navigation system according to the characteristic that the errors are not accumulated along with time, and compensates delay errors among observed quantities of the low-frequency magnetic beacons by using short-time output of the inertial navigation system, thereby effectively improving the system precision of combined navigation.
Further, the acquiring the feature vector of the magnetic beacon at the target comprises: acquiring a magnetic beacon model, wherein each magnetic beacon in the magnetic beacon model has a different working frequency; determining a magnetic field vector according to the working frequency of the magnetic beacon; determining the feature vector of each of the magnetic beacons at the target from the magnetic field vector.
According to the positioning method based on inertial navigation, the magnetic beacons in the magnetic beacon model are set to have different working frequencies, so that the magnetic beacon from which the measured magnetic field signal comes can be distinguished, and the system precision of combined navigation is effectively improved.
Further, the process of establishing the magnetic beacon model comprises the following steps: setting at least three magnetic beacons in an application environment based on a magnetic dipole model; and setting each magnetic beacon to be different working frequencies, and establishing the magnetic beacon model.
The positioning method based on inertial navigation establishes a magnetic beacon model by setting at least three magnetic beacons in an application environment to realize an accurate positioning function, thereby effectively improving the system accuracy of integrated navigation.
Further, the determining a feature vector of each of the magnetic beacons at the target according to the magnetic field vector comprises: determining three-axis components of a magnetic field according to the magnetic field vector; determining a characteristic angle of the target according to the three-axis components; and determining a characteristic vector of each magnetic beacon at the target according to the characteristic angle of the target.
The positioning method based on inertial navigation determines the characteristic vector of the magnetic beacon at the target through the magnetic field vector, and has stronger robustness due to weaker influence of magnetic field attenuation, thereby effectively improving the system precision of the combined navigation.
Further, the determining the position of the target according to the state output and the feature vector further comprises: and after the position of the target is determined according to the state output and the characteristic vector, determining a compensated characteristic vector according to the position of the target.
The positioning method based on inertial navigation determines the compensated characteristic vector through the position of the target, thereby being beneficial to determining the position error and the attitude error and effectively improving the system precision of the integrated navigation.
Further, the determining the position of the target according to the state output and the feature vector comprises: determining an optimal state estimate for the target based on the state output and the feature vector; and determining the position of the target according to the optimal state estimation.
The positioning method based on inertial navigation determines the optimal state estimation of the target through the state output and the characteristic vector, thereby determining the position of the target and effectively improving the system precision of the integrated navigation.
Further, the determining a position error and an attitude error according to the position of the target includes: determining the attitude angle of the target according to the position of the target; determining the position error and the attitude error from the position and the attitude angle.
The positioning method based on inertial navigation determines the position error and the attitude error through the position and the attitude angle of the target, and is favorable for adjusting the position and the attitude of an inertial navigation system according to the position error and the attitude error, thereby effectively improving the system precision of the integrated navigation.
Further, said adjusting the position and attitude of the inertial navigation system based on the position error and the attitude error comprises: when the position error is larger than a position error threshold value or the attitude error is larger than an attitude error threshold value, adjusting the position and the attitude of the inertial navigation system according to the output of the magnetic beacon system; when the position error is less than or equal to the position error threshold value and the attitude error is less than or equal to the attitude error threshold value, keeping the output of the position and the attitude of the inertial navigation system unchanged.
The positioning method based on inertial navigation adjusts the position and the posture of the inertial navigation system according to the position error and the posture error, and realizes the effect that the error is not accumulated along with the time by adjusting the position and the posture of the inertial navigation system, thereby effectively improving the system precision of the integrated navigation.
The invention also provides a positioning device based on inertial navigation, comprising: the acquisition unit is used for acquiring a feature vector of the magnetic beacon at a target and acquiring the state output of the inertial navigation system; a calculation unit for determining a position of the target from the state output and the feature vector, and for determining a position error and an attitude error from the position of the target; a processing unit to adjust a position and an attitude of the inertial navigation system according to the position error and the attitude error. The advantages of the positioning device based on inertial navigation and the positioning method based on inertial navigation are the same as those of the prior art, and are not described herein again.
The invention also provides a positioning system based on inertial navigation, which comprises at least three magnetic beacons with different working frequencies and the positioning device based on inertial navigation. Compared with the prior art, the inertial navigation-based positioning system and the inertial navigation-based positioning method have the same advantages, and are not described herein again.
Drawings
FIG. 1 is a flow chart of a positioning method based on inertial navigation according to the present invention;
FIG. 2 is a diagram of a magnetic beacon model according to the present invention;
fig. 3 is a schematic diagram of the MIMU-based compensation of delay errors according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a positioning method based on inertial navigation, including: acquiring a characteristic vector of a magnetic beacon at a target, acquiring state output of an inertial navigation system, and determining the position of the target according to the state output and the characteristic vector; and determining a position error and an attitude error according to the position of the target, and adjusting the position and the attitude of the inertial navigation system according to the position error and the attitude error.
Specifically, in this embodiment, the positioning method based on inertial navigation includes: acquiring a feature vector of a magnetic beacon at a target, wherein the step specifically comprises the following steps:
(1) the magnetic beacon model diagram shown in the figure 2 is based on magnetic couplingA polar model, at least three magnetic beacons with different working frequencies are arranged in an application environment, the coordinates of each magnetic beacon are unified under the same coordinate system, and the position of each magnetic beacon is calibrated as
(i ═ 1,2,3,. n), and the operating frequency of each magnetic beacon is within 10Hz to 1kHz, the operating frequency is known, because the lower the frequency, the more penetrating the magnetic field, therefore utilize the penetrating ability of very low frequency magnetic field, can realize effectively under the special environment such as underground and indoor to position and navigate, wherein, the operating frequency of each magnetic beacon is different each other, on the one hand, the magnetic field signal with certain frequency can be separated from static magnetic field effectively, on the other hand, it is convenient to carry on fourier decomposition, in order to distinguish which magnetic beacon the measured magnetic field signal comes from.
Taking four magnetic beacons as an example, the coordinate positions and operating frequencies are shown in table 1 below.
TABLE 1 magnetic Beacon Placement location and operating frequency
| Magnetic beacon | Coordinate location (m) | Working frequency (Hz) |
| 1 | (0,0,0) | 20 |
| 2 | (8.2,0.7,0.23) | 25 |
| 3 | (7.86,8.61,0.11) | 30 |
| 4 | (-0.1,7.82,-0.37) | 35 |
(2) Extracting corresponding magnetic field vector according to the working frequency of each magnetic beacon, wherein the magnetic field vector is represented as B ═ Bx,By,Bz]T。
Defining the target to be measured as P as shown in the figure, taking four magnetic beacons as an example, the magnetic field strength vector corresponding to each magnetic beacon can be represented as:
(3) from measured characteristic angles
Computing feature vectors of magnetic beacons at a target
Wherein
As shown in fig. 2, the significance of (b) can be calculated from the three-axis components of the magnetic field at the target:
the solution is carried out in a vector mode, the influence of magnetic field attenuation is weak, and the robustness is stronger.
And simultaneously acquiring the state output of the inertial navigation system, and determining the position of the target according to the state output and the characteristic vector, wherein the specific process comprises the following steps:
(4) and determining the optimal state estimation of the target according to the state output and the feature vector.
As shown in FIG. 3, let t2The system state at time is denoted as x (t)2) Then t is3，t4The system state at the moment can
xk＝Fk,k-1xk-1+wk-1
zk＝Hkxk+vk
Updated estimates are output from the observations of the MIMU,
then
Will t2，t3，t4M of three magnetic beacons at a timeiThe observation feature vector of (i ═ 1,2,3) is expressed as:
then t2，t3，t4The posterior probability of a moment can be expressed as:
p1(v1(t2)|x(t2)),p2(v2(t3)|x(t3)),p3(v3(t4)|x(t4))
wherein the state particles are paired according to the output of the MIMU
Performing estimation update to obtain
And
respectively obtaining the particles x by the same methodj(t2) A posteriori probability of
Updating the particle x according to the calculated posterior probabilityj(t2) Weight of (2)
Then, the weight of each particle is normalized
Estimating state particles
The time t is obtained by the same methodiA target state estimate of 5, 6.;
an optimal state estimate of the target can thus be obtained:
x(t4)＝{x(t)|max(p1·p2·p3)}
(5) and determining the position of the target according to the optimal state estimation.
Determining the position of a target based on optimal state estimation
Then determining a position error and an attitude error based on the position of the target, including:
(6) and determining the compensated feature vector according to the position of the target.
According to the calculated target position, a rotation matrix of the target relative to a base station coordinate system can be calculated
Wherein,
(7) And determining the attitude angle of the target according to the compensated feature vector.
(8) And determining a position error and the attitude error according to the target position and the attitude angle.
(9) And adjusting the position and the attitude of the inertial navigation system according to the position error and the attitude error.
When position error Δ p and attitudeError of state
One of which is greater than the error threshold Δ p of the corresponding magnetic beaconthr，
Adjusting the position and attitude of the inertial navigation system based on the output of the magnetic beacon system, and adjusting the position error Δ p and attitude error
None of which is greater than the error threshold Δ p of the corresponding magnetic beaconthr，
The position and attitude outputs of the inertial navigation system are kept constant.
The position error of the magnetic beacon is about 10cm at most, the angle error is 5 degrees at most, and the actual application process may have differences and needs to be readjusted; by adjusting the position and the posture of the inertial navigation system, the effect that the error is not accumulated along with the time is realized.
Table 2 below shows the comparison of the compensated positioning error of the magnetic beacon system under different target speeds and the uncompensated positioning.
TABLE 2-location comparison of compensated magnetic beacon system location error with uncompensated case
In the embodiment, a navigation service scheme which has long working time, is stable and has a positioning and attitude-fixing function is realized in complex environments such as underground and indoor environments with a large number of obstacles by generating low-frequency magnetic field characteristic vectors through magnetic beacons, accumulated errors of positions and attitudes of an inertial navigation system are corrected according to the characteristic that the errors are not accumulated along with time, and delay errors among observed quantities of the low-frequency magnetic beacons are compensated by using short-time output of the inertial navigation system, so that the system precision of combined navigation is effectively improved.
Preferably, the acquiring the feature vector of the magnetic beacon at the target includes: acquiring a magnetic beacon model, wherein each magnetic beacon in the magnetic beacon model has a different working frequency; determining a magnetic field vector according to the working frequency of the magnetic beacon; determining the feature vector of each of the magnetic beacons at the target from the magnetic field vector.
Specifically, in the present embodiment, acquiring the feature vector of the magnetic beacon at the target includes: the method comprises the steps of obtaining a magnetic beacon model, determining a magnetic field vector according to the working frequency of the magnetic beacon, and determining the characteristic vector of each magnetic beacon at a target according to the magnetic field vector, wherein the working frequency of each magnetic beacon is different from each other, so that magnetic field signals with certain frequency can be effectively and statically separated from the geomagnetic field, and Fourier decomposition is conveniently carried out to distinguish which magnetic beacon the measured magnetic field signals come from.
In this embodiment, by setting different operating frequencies of the magnetic beacons in the magnetic beacon model, which magnetic beacon the measured magnetic field signal comes from can be distinguished, and thus the system accuracy of the integrated navigation is effectively improved.
Preferably, the process of establishing the magnetic beacon model comprises: setting at least three magnetic beacons in an application environment based on a magnetic dipole model; and setting each magnetic beacon to be different working frequencies, and establishing the magnetic beacon model.
Specifically, in this embodiment, the process of establishing the magnetic beacon model includes: setting at least three magnetic beacons in an application environment based on a magnetic dipole model, and determining corresponding positioning coordinates through the at least three magnetic beacons based on a navigation principle, so that at least three magnetic beacons are set in the application environment when the magnetic beacon model is established; meanwhile, each magnetic beacon is set to be different working frequencies, on one hand, magnetic field signals with certain frequencies can be effectively separated from static magnetic fields, and on the other hand, Fourier decomposition is conveniently carried out to distinguish which magnetic beacon the measured magnetic field signals come from, so that a magnetic beacon model is established.
In the embodiment, at least three magnetic beacons are arranged in the application environment to establish the magnetic beacon model so as to realize the accurate positioning function, thereby effectively improving the system accuracy of the integrated navigation.
Preferably, the determining the feature vector of each magnetic beacon at the target according to the magnetic field vector comprises: determining three-axis components of a magnetic field according to the magnetic field vector; determining a characteristic angle of the target according to the three-axis components; and determining a characteristic vector of each magnetic beacon at the target according to the characteristic angle of the target.
Specifically, in the present embodiment, determining the feature vector of each magnetic beacon at the target according to the magnetic field vector includes: first, the three-axis component of the magnetic field is determined from the magnetic field vector, for example, where the magnetic field vector is denoted as B ═ Bx,By,Bz]TThen the corresponding three-axis components are Bx, By and Bz, so as to determine the characteristic angle of the target
Determining a feature vector of the magnetic beacon at the target based on the feature angle, e.g.
In the embodiment, the characteristic vector of the magnetic beacon at the target is determined through the magnetic field vector, and the characteristic vector is less influenced by the attenuation of the magnetic field and has stronger robustness, so that the system precision of the combined navigation is effectively improved.
Preferably, the determining the position of the target according to the state output and the feature vector further comprises: and after the position of the target is determined according to the state output and the characteristic vector, determining a compensated characteristic vector according to the position of the target.
Specifically, in this embodiment, determining the position of the target according to the state output and the feature vector further includes: after the position of the target is determined according to the state output and the characteristic vector, the compensated characteristic vector is determined according to the position of the target, for example, the rotation matrix of the target relative to the base station coordinate system can be calculated according to the calculated target position
Wherein,
In the embodiment, the compensated feature vector is determined according to the position of the target, which is beneficial to determining the position error and the attitude error, thereby effectively improving the system precision of the integrated navigation.
Preferably, the determining the position of the target according to the state output and the feature vector comprises: determining an optimal state estimate for the target based on the state output and the feature vector; and determining the position of the target according to the optimal state estimation.
Specifically, in the present embodiment, determining the position of the target from the state output and the feature vector includes: determining the optimal state estimation of the target according to the state output and the feature vector; determining the position of the target based on the optimal state estimate, e.g., determining the optimal state estimate of the target as x (t) based on the state output and the feature vector4)＝{x(t)|max(p1·p2·p3) Is determined as the position of the target
In the embodiment, the optimal state estimation of the target is determined through the state output and the feature vector, so that the position of the target is determined, and the system precision of the integrated navigation is effectively improved.
Preferably, the determining a position error and an attitude error according to the position of the target includes: determining the attitude angle of the target according to the position of the target; determining the position error and the attitude error from the position and the attitude angle.
Specifically, in the present embodiment, determining the position error and the attitude error according to the position of the target includes: determining the attitude angle of the target according to the position of the target; and determining a position error and an attitude error according to the position and attitude angles.
In the embodiment, the position error and the attitude error are determined according to the position and the attitude angle of the target, so that the position and the attitude of the inertial navigation system can be adjusted according to the position error and the attitude error, and the system precision of the integrated navigation is effectively improved.
Preferably, said adjusting the position and attitude of the inertial navigation system according to the position error and the attitude error comprises: when the position error is larger than a position error threshold value or the attitude error is larger than an attitude error threshold value, adjusting the position and the attitude of the inertial navigation system according to the output of the magnetic beacon system; when the position error is less than or equal to the position error threshold value and the attitude error is less than or equal to the attitude error threshold value, keeping the output of the position and the attitude of the inertial navigation system unchanged.
Specifically, in the present embodiment, adjusting the position and attitude of the inertial navigation system according to the position error and the attitude error includes: when the position error is larger than the position error threshold value or the attitude error is larger than the attitude error threshold value, the position and the attitude of the inertial navigation system are adjusted according to the output of the magnetic beacon system; maintaining the position and attitude outputs of the inertial navigation system constant when the position error is less than or equal to the position error threshold and the attitude error is less than or equal to the attitude error threshold, such as when the position error Δ p and the attitude error
One of which is greater than the error threshold Δ p of the corresponding magnetic beaconthr，
Adjusting the position and attitude of the inertial navigation system based on the output of the magnetic beacon system, and adjusting the position error Δ p and attitude error
None of which is greater than the error threshold Δ p of the corresponding magnetic beaconthr，
The position and attitude outputs of the inertial navigation system are kept constant.
In the embodiment, the position and the attitude of the inertial navigation system are adjusted according to the position error and the attitude error, and the effect that the errors are not accumulated along with time is realized by adjusting the position and the attitude of the inertial navigation system, so that the system precision of the combined navigation is effectively improved.
Another embodiment of the present invention provides a positioning device based on inertial navigation, including: the acquisition unit is used for acquiring a feature vector of the magnetic beacon at a target and acquiring the state output of the inertial navigation system;
a calculation unit for determining a position of the target from the state output and the feature vector, and for determining a position error and an attitude error from the position of the target;
a processing unit to adjust a position and an attitude of the inertial navigation system according to the position error and the attitude error.
Another embodiment of the present invention provides a positioning system based on inertial navigation, which includes at least three magnetic beacons with different operating frequencies and the positioning device based on inertial navigation.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A positioning method based on inertial navigation is characterized by comprising the following steps:
acquiring a characteristic vector of a magnetic beacon at a target, acquiring state output of an inertial navigation system, and determining the position of the target according to the state output and the characteristic vector;
and determining a position error and an attitude error according to the position of the target, and adjusting the position and the attitude of the inertial navigation system according to the position error and the attitude error.
2. The inertial navigation-based positioning method of claim 1, wherein the obtaining the feature vector of the magnetic beacon at the target comprises:
acquiring a magnetic beacon model, wherein each magnetic beacon in the magnetic beacon model has a different working frequency;
determining a magnetic field vector according to the working frequency of the magnetic beacon;
determining the feature vector of each of the magnetic beacons at the target from the magnetic field vector.
3. The inertial navigation-based positioning method according to claim 2, wherein the establishing process of the magnetic beacon model comprises:
setting at least three magnetic beacons in an application environment based on a magnetic dipole model;
and setting each magnetic beacon to be different working frequencies, and establishing the magnetic beacon model.
4. The inertial navigation-based positioning method of claim 2, wherein the determining the feature vector of each of the magnetic beacons at the target from the magnetic field vectors comprises:
determining three-axis components of a magnetic field according to the magnetic field vector;
determining a characteristic angle of the target according to the three-axis components;
and determining a characteristic vector of each magnetic beacon at the target according to the characteristic angle of the target.
5. The inertial navigation-based positioning method of claim 1, wherein the determining the position of the target from the state output and the feature vector further comprises:
and after the position of the target is determined according to the state output and the characteristic vector, determining a compensated characteristic vector according to the position of the target.
6. The inertial navigation-based positioning method of claim 5, wherein the determining the position of the target from the state output and the feature vector comprises:
determining an optimal state estimate for the target based on the state output and the feature vector;
and determining the position of the target according to the optimal state estimation.
7. The inertial navigation-based positioning method of claim 1, wherein the determining a position error and an attitude error from the position of the target comprises:
determining the attitude angle of the target according to the position of the target;
determining the position error and the attitude error from the position and the attitude angle.
8. The inertial navigation-based positioning method of claim 1, wherein the adjusting the position and attitude of the inertial navigation system according to the position error and the attitude error comprises:
when the position error is larger than a position error threshold value or the attitude error is larger than an attitude error threshold value, adjusting the position and the attitude of the inertial navigation system according to the output of the magnetic beacon system;
when the position error is less than or equal to the position error threshold value and the attitude error is less than or equal to the attitude error threshold value, keeping the output of the position and the attitude of the inertial navigation system unchanged.
9. An inertial navigation-based positioning device, comprising:
the acquisition unit is used for acquiring a feature vector of the magnetic beacon at a target and acquiring the state output of the inertial navigation system;
a calculation unit for determining a position of the target from the state output and the feature vector, and for determining a position error and an attitude error from the position of the target;
a processing unit to adjust a position and an attitude of the inertial navigation system according to the position error and the attitude error.
10. An inertial navigation-based positioning system comprising at least three magnetic beacons having different operating frequencies from each other and the inertial navigation-based positioning apparatus of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010212358.6A CN111504306A (en) | 2020-06-17 | 2020-06-17 | Positioning method, device and system based on inertial navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010212358.6A CN111504306A (en) | 2020-06-17 | 2020-06-17 | Positioning method, device and system based on inertial navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111504306A true CN111504306A (en) | 2020-08-07 |
Family
ID=71867050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010212358.6A Pending CN111504306A (en) | 2020-06-17 | 2020-06-17 | Positioning method, device and system based on inertial navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111504306A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103278165A (en) * | 2013-05-22 | 2013-09-04 | 上海新跃仪表厂 | Remanence-calibration-based autonomous navigation method of magnetic survey and starlight backup based on |
| CN103674021A (en) * | 2013-11-25 | 2014-03-26 | 哈尔滨工业大学 | Integrated navigation system and method based on SINS (Strapdown Inertial Navigation System) and star sensor |
| CN103994763A (en) * | 2014-05-21 | 2014-08-20 | 北京航空航天大学 | SINS (Ship's Inertial Navigation System)/CNS (Celestial Navigation System) deep integrated navigation system of mar rover, and realization method of system |
| CN104697523A (en) * | 2015-03-31 | 2015-06-10 | 哈尔滨工业大学 | Inertia/terrestrial magnetism matching and positioning method based on iterative computation |
| CN105180968A (en) * | 2015-09-02 | 2015-12-23 | 北京天航华创科技股份有限公司 | IMU/magnetometer installation misalignment angle online filter calibration method |
| CN109556631A (en) * | 2018-11-26 | 2019-04-02 | 北方工业大学 | INS/GNSS/polarization/geomagnetic combined navigation system alignment method based on least squares |
| CN109556632A (en) * | 2018-11-26 | 2019-04-02 | 北方工业大学 | INS/GNSS/polarization/geomagnetic integrated navigation alignment method based on Kalman filtering |
| CN109883415A (en) * | 2019-03-01 | 2019-06-14 | 哈尔滨工业大学 | A kind of rotating excitation field localization method based on trigonometric function fitting |
| CN109917325A (en) * | 2019-04-04 | 2019-06-21 | 哈尔滨工业大学 | A kind of localization method, apparatus and system based on more magnetic beacons |
| CN110057356A (en) * | 2019-04-29 | 2019-07-26 | 桂林电子科技大学 | Vehicle positioning method and device in a kind of tunnel |
| CN110440796A (en) * | 2019-08-19 | 2019-11-12 | 哈尔滨工业大学 | Pipe robot positioning device and method based on rotating excitation field and inertial navigation fusion |
| CN111272168A (en) * | 2020-03-24 | 2020-06-12 | 哈尔滨工业大学 | Positioning method, device and system based on magnetic field characteristic vector |
-
2020
- 2020-06-17 CN CN202010212358.6A patent/CN111504306A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103278165A (en) * | 2013-05-22 | 2013-09-04 | 上海新跃仪表厂 | Remanence-calibration-based autonomous navigation method of magnetic survey and starlight backup based on |
| CN103674021A (en) * | 2013-11-25 | 2014-03-26 | 哈尔滨工业大学 | Integrated navigation system and method based on SINS (Strapdown Inertial Navigation System) and star sensor |
| CN103994763A (en) * | 2014-05-21 | 2014-08-20 | 北京航空航天大学 | SINS (Ship's Inertial Navigation System)/CNS (Celestial Navigation System) deep integrated navigation system of mar rover, and realization method of system |
| CN104697523A (en) * | 2015-03-31 | 2015-06-10 | 哈尔滨工业大学 | Inertia/terrestrial magnetism matching and positioning method based on iterative computation |
| CN105180968A (en) * | 2015-09-02 | 2015-12-23 | 北京天航华创科技股份有限公司 | IMU/magnetometer installation misalignment angle online filter calibration method |
| CN109556631A (en) * | 2018-11-26 | 2019-04-02 | 北方工业大学 | INS/GNSS/polarization/geomagnetic combined navigation system alignment method based on least squares |
| CN109556632A (en) * | 2018-11-26 | 2019-04-02 | 北方工业大学 | INS/GNSS/polarization/geomagnetic integrated navigation alignment method based on Kalman filtering |
| CN109883415A (en) * | 2019-03-01 | 2019-06-14 | 哈尔滨工业大学 | A kind of rotating excitation field localization method based on trigonometric function fitting |
| CN109917325A (en) * | 2019-04-04 | 2019-06-21 | 哈尔滨工业大学 | A kind of localization method, apparatus and system based on more magnetic beacons |
| CN110057356A (en) * | 2019-04-29 | 2019-07-26 | 桂林电子科技大学 | Vehicle positioning method and device in a kind of tunnel |
| CN110440796A (en) * | 2019-08-19 | 2019-11-12 | 哈尔滨工业大学 | Pipe robot positioning device and method based on rotating excitation field and inertial navigation fusion |
| CN111272168A (en) * | 2020-03-24 | 2020-06-12 | 哈尔滨工业大学 | Positioning method, device and system based on magnetic field characteristic vector |
Non-Patent Citations (2)
| Title |
|---|
| DARMINDRA D等: "Magnetic field-based positioning systems", 《IEEE COMMUNICATIONS SURVEYS & TUTORIALS》 * |
| Y. ZHENG等: "Magnetic-Based Positioning System for Moving Target With Feature Vector", 《IEEE ACCESS》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105589064B (en) | WLAN location fingerprint database is quickly established and dynamic update system and method | |
| US20020103610A1 (en) | Method and apparatus for motion tracking of an articulated rigid body | |
| Bachmann et al. | Orientation tracking for humans and robots using inertial sensors | |
| CN108680942B (en) | A kind of inertia/multiple antennas GNSS Combinated navigation method and device | |
| CN113203418B (en) | GNSSINS visual fusion positioning method and system based on sequential Kalman filtering | |
| CN110554359B (en) | Seabed flight node positioning method integrating long baseline positioning and single beacon positioning | |
| CN110133692B (en) | Inertial navigation technology-assisted high-precision GNSS dynamic inclination measurement system and method | |
| CN109490855A (en) | A kind of trailer-mounted radar scaling method, device and vehicle | |
| CN110657806A (en) | Position resolving method based on CKF, chan resolving and Savitzky-Golay smooth filtering | |
| CN111965685A (en) | Low-orbit satellite/inertia combined navigation positioning method based on Doppler information | |
| US8510079B2 (en) | Systems and methods for an advanced pedometer | |
| CN114111767B (en) | Method for optimizing line design line type based on multi-information fusion | |
| CN110471096A (en) | A kind of distribution seabed flight node group localization method | |
| CN114459466A (en) | MEMS multi-sensor data fusion processing method based on fuzzy control | |
| JP2010096647A (en) | Navigation apparatus and estimation method | |
| CN109470251A (en) | A kind of partial feedback filtering method in integrated navigation system | |
| CN113551669A (en) | Short baseline-based combined navigation positioning method and device | |
| CN111504306A (en) | Positioning method, device and system based on inertial navigation | |
| Li et al. | An efficient method for tri-axis magnetometer calibration | |
| CN111272168B (en) | Positioning method, device and system based on magnetic field characteristic vector | |
| CN112284412A (en) | Ground static alignment method for avoiding precision reduction caused by singular Euler transformation | |
| CN116482735A (en) | High-precision positioning method for inside and outside of limited space | |
| JP4343581B2 (en) | Moving body posture detection device | |
| Yadav et al. | Development of GPS/INS integration module using Kalman filter | |
| CN113252029B (en) | Astronomical navigation attitude transfer method based on optical gyroscope measurement information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200807 |
|
| RJ01 | Rejection of invention patent application after publication |