CN116337035A - Multi-source sensor elastic fusion navigation positioning method based on environment information assistance - Google Patents
Multi-source sensor elastic fusion navigation positioning method based on environment information assistance Download PDFInfo
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- CN116337035A CN116337035A CN202310072126.9A CN202310072126A CN116337035A CN 116337035 A CN116337035 A CN 116337035A CN 202310072126 A CN202310072126 A CN 202310072126A CN 116337035 A CN116337035 A CN 116337035A
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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
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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
- G01C21/20—Instruments for performing navigational calculations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention relates to the field of indoor and outdoor seamless navigation positioning, and provides an environment information-assisted multi-source sensor elastic fusion navigation positioning method. The method is suitable for a navigation positioning platform with an environment sensing sensor and a plurality of positioning sensors of different types, and can enable seamless navigation positioning to be more continuous and stable in indoor and outdoor complex environments.
Description
Technical Field
The invention relates to the field of indoor and outdoor seamless navigation positioning, in particular to a multi-source elastic fusion navigation positioning method under a complex environment, which is used for realizing continuous and stable high-precision navigation positioning under the complex environment indoors and outdoors by adopting an environment information-assisted multi-source sensor elastic fusion navigation positioning mode, and is particularly suitable for an unmanned navigation positioning platform loaded with various sensors.
Background
The satellite navigation system has poor positioning performance in indoor and urban canyon areas, the existing positioning methods in the urban canyon areas and the indoor areas have the problems that Bluetooth, WIFE, wireless communication base station positioning and inertial positioning are used for solving the problem that satellite signals cannot penetrate through a wall due to weak signals, but the problems of the methods are all such or similar, so that the positioning accuracy is poor, for example, the energy positioning adopted by Bluetooth and WIFE is greatly influenced by multipath attenuation, the energy attenuation between an observation point and an emission point cannot be accurately measured, the positioning accuracy is poor, the number of base stations in the current urban area cannot meet the high-accuracy navigation positioning requirement, the indoor multipath influence is large, and the inertial navigation positioning needs to continuously correct inertial navigation. Therefore, the current indoor navigation positioning technology cannot meet the requirement of high-precision positioning, and research on a new technology and a new method is required to be carried out in the aspect of indoor high-precision navigation positioning.
Disclosure of Invention
Aiming at complex and changeable navigation positioning environments, the invention firstly utilizes the environment information of the environment sensor to determine the type of the currently available sensor, obtains the distance difference influence factor of the current environment by comparing the positioning result of the current sensor with the fusion positioning result of the previous moment, obtains the environment influence factor by the experience positioning error of the sensor in the environment, further obtains the fusion positioning weighting coefficient of different sensors, and realizes the multi-source sensor elastic fusion navigation positioning based on the assistance of the environment information.
The invention adopts the technical scheme that:
an environment information-assisted multisource sensor elastic fusion navigation positioning method comprises the following steps:
(1) The current moment l respectively collects positioning results A generated by different sensors or fusion positioning modes l ＝[a l,1 ,…,a l,k ,…a l,K ]Where K is the number of sensors,
the positioning result of the kth sensor at the moment I;
(2) According to the information of the environment-aware sensor, determining available sensors of the current environment, and removing the positioning results of unavailable sensors of the current environment to obtain the positioning results A of the remaining sensors l,1 ＝[a l,1 ,…,a l,k ,…a l,K1 ],K 1 ≤K；
(3) Calculating the positioning result A of the residual sensor at the moment I l,1 Positioning result a with time l-1 l-1,0 Distance d of (2) l/l-1,k I.e.
(x l-1,0 ，y l-1,0 ，z l-1,0 ) Positioning the result for the time l-1;
(4) Setting the period from time l-1 to time l according to the motion state of the carrierThe distance of the observation motion is d' l/l-1,0 And calculates the distance difference influence factor of the kth positioning result as
Wherein alpha is the adjustment coefficient of the distance difference influencing factor, if ∈>
ξ k =δα, δ is a set threshold;
(5) The residual sensors are given different environmental impact factors according to the current environment and the errors of the sensors in the environment
σ k To locate the mean square error, beta, of the kth sensor in the current environment k Adjusting coefficients for the environmental impact factors;
(6) Calculating and normalizing the weighted value of the kth sensor, namely:
(7) Calculating a fusion positioning result a at moment I l,0 I.e.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an environment information-assisted multi-source sensor elastic fusion navigation positioning method, which realizes multi-source fusion elastic positioning in a mode of carrying out elastic fusion weighting according to environment information. The beneficial effects of the method are mainly as follows:
1. according to the invention, the sensor information participating in positioning and the fusion positioning weighting coefficient can be flexibly selected according to the change of the environment, so that the stability and the continuity of indoor and outdoor seamless positioning are improved;
2. the method is realized in an elastic fusion weighting mode assisted by environment information, the calculated amount is relatively small, and the engineering realization is relatively simple.
Drawings
FIG. 1 is a flow chart of a multi-source sensor elastic fusion navigation positioning method based on environment information assistance.
Detailed Description
The invention will be further described with reference to the accompanying drawings. The embodiment of the invention discloses a multi-source sensor elastic fusion navigation positioning method based on environment information assistance, which is shown in a figure 1, and specifically comprises the following steps:
(1) Assume that different sensors are respectively acquired at the moment I or fused positioning modes are adopted to generate a positioning result A l ＝[a l,1 ,…,a l,k ,…a l,K ]Where K is the number of sensors,
the positioning result of the kth sensor at the moment I;
(2) Determining available sensors in the current environment according to the information of the environment-aware sensors, and eliminating the positioning results of unavailable sensors in the current environment to obtain the positioning results of the remaining sensors, namely A l,1 ＝[a l,1 ,…,a l,k ,…a l,K1 ],K 1 ≤K；
(3) Calculating the positioning result A of the residual sensor at the moment I l,1 Positioning result a with time l-1 l-1,0 Distance d of (2) ll-1,k I.e.
(x l-1,0 ，y l-1,0 ，z l-1,0 ) Positioning the result for the time l-1;
(4) Setting the expected movement distance from time l-1 to time l as d according to the movement state of the carrier l ' l-1,0 And calculates the distance difference influence factor of the kth positioning result as
Wherein alpha is the adjustment coefficient of the distance difference influencing factor, if ∈>
ξ k =δα; where δ is a decimal infinitely close to zero, the present example is set to 0.02.
(5) The remaining sensors are given different environmental impact factors according to the current environment and the experience error of the sensor in the environment
σ k For the positioning of the kth sensor in this environment to be a mean square error, βk adjusting coefficients for the environmental impact factors;
(6) Calculating and normalizing the weighted value of the kth sensor, namely:
(7) Calculating a fusion positioning result a at moment I l,0 I.e.
Claims (1)
1. The multi-source sensor elastic fusion navigation positioning method based on the environment information assistance is characterized by comprising the following steps of:
(1) The current moment l respectively collects positioning results A generated by different sensors or fusion positioning modes l ＝[a l,1 ,…,a l,k ,…a l,K ]Where K is the number of sensors,
the positioning result of the kth sensor at the moment I;
(2) According to the information of the environment-aware sensor, determining available sensors of the current environment, and removing the positioning results of unavailable sensors of the current environment to obtain the positioning results of the remaining sensors
(3) Calculating the positioning result A of the residual sensor at the moment I l,1 Positioning result a with time l-1 l-1,0 Distance d of (2) l/l-1,k I.e.
(x l-1,0 ，y l-1,0 ，z l-1,0 ) Positioning the result for the time l-1;
(4) Setting the expected movement distance from time l-1 to time l as d 'according to the movement state of the carrier' l/l-1,0 And calculates the distance difference influence factor of the kth positioning result as
Where α is the distance difference influencing factor adjustment coefficient, if
ξ k =δα, δ is a set threshold;
(5) The residual sensors are given different environmental impact factors according to the current environment and the errors of the sensors in the environment
σ k For the positioning mean square error of the kth sensor in the current environment, βk adjusting coefficients for the environmental impact factors;
(6) Calculating and normalizing the weighted value of the kth sensor, namely:
(7) Calculating a fusion positioning result a at moment I l,0 I.e.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540284A (en) * | 2023-07-06 | 2023-08-04 | 河北新合芯电子科技有限公司 | Indoor navigation positioning method, device, system and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540284A (en) * | 2023-07-06 | 2023-08-04 | 河北新合芯电子科技有限公司 | Indoor navigation positioning method, device, system and storage medium |
| CN116540284B (en) * | 2023-07-06 | 2023-10-20 | 河北新合芯电子科技有限公司 | Indoor navigation positioning method, device, system and storage medium |
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