CN107339986B - Positioning method, device and system - Google Patents

Abstract

The invention provides a positioning method, a positioning device and a positioning system. A method of positioning, comprising: calculating by using a wireless positioning system to obtain a first positioning result of a moving target, calculating to obtain a weight factor of the first positioning result, calculating by using an inertial navigation system to obtain a second positioning result of the moving target, and calculating to obtain a weight factor of the second positioning result; and performing weighted fusion processing on the first positioning result and the second positioning result according to the weight factor of the first positioning result and the weight factor of the second positioning result to obtain a positioning result of the moving target. Meanwhile, in the positioning process, when the moving target is in a static state, the inertial navigation system is corrected. By adopting the technical scheme of the invention, the positioning precision of positioning by utilizing the wireless positioning system and the inertial navigation system can be improved.

Description

A positioning method, device and system

technical field

The present invention relates to the technical field of moving target positioning, and in particular, to a positioning method, device and system.

Background technique

With the rapid development of intelligent communication technology and Internet of Things technology, many areas in real life need to locate people and equipment. Outdoor positioning has a relatively mature solution, but indoor positioning has no more accurate positioning method due to its complex environment, limited positioning area, serious lack of direct wave path, serious multipath phenomenon and other characteristics.

In the prior art, a relatively accurate indoor positioning method is to use an inertial navigation system combined with a radio technology to achieve target positioning. Specifically, the target navigation information obtained by the inertial navigation system and the pseudo-distance information obtained by wireless positioning are weighted and fused according to the set fixed weight distribution to obtain the target positioning information.

However, the positioning accuracy of radio technology and inertial navigation system changes in real time. For example, the positioning accuracy of inertial navigation system is relatively high in a short period of time. As the working time prolongs, its error gradually accumulates, and the positioning accuracy will become worse and worse. The above fusion positioning scheme is to perform weighted fusion of the target navigation information obtained by the inertial navigation system and the pseudo-distance information obtained by wireless positioning according to a fixed weight, and weight the target navigation information obtained by the inertial navigation system and the pseudo-distance information obtained by wireless positioning. The allocation cannot match the positioning process of the inertial navigation system and the wireless positioning system. With the extension of the positioning time, the accumulated positioning error will become larger and larger, resulting in serious positioning inaccuracies.

SUMMARY OF THE INVENTION

Based on the above-mentioned defects and deficiencies of the prior art, the present invention proposes a positioning method, device and system, which can utilize the wireless positioning system and the inertial navigation system to perform dynamic weighted positioning on the positioning target, and the positioning is more accurate.

A positioning method comprising:

The wireless positioning system is used to obtain the first positioning result of the moving target, and the weight factor of the first positioning result is calculated, and the second positioning result of the moving target is obtained by the inertial navigation system, and the calculation obtaining the weighting factor of the second positioning result;

According to the weighting factor of the first positioning result and the weighting factor of the second positioning result, weighted fusion processing is performed on the first positioning result and the second positioning result to obtain the positioning result of the moving target ;

Detecting whether the moving target changes from a motion state to a stationary state;

When it is detected that the moving target changes from a moving state to a stationary state, stop using the inertial navigation system to obtain the second positioning result for the moving target, and stop calculating the weighting factor of the second positioning result , while maintaining the first positioning result of the moving target obtained by the wireless positioning system, and according to the first positioning result of the moving target obtained by the wireless positioning system, calculating the The positioning result of the moving target;

When it is detected that the moving target enters the moving state from the static state again, the first positioning result for the moving target obtained by the wireless positioning system is used, and the calculated positioning result for the moving target is used, Perform parameter zeroing processing and correction processing on the inertial navigation system, and start to use the inertial navigation system to obtain a second positioning result for the moving target, and calculate the weight factor of the second positioning result.

Preferably, the first positioning result of the moving target is obtained by using the wireless positioning system, and the weight factor of the first positioning result is obtained by calculation, including:

Use the wireless positioning system to calculate the possible coordinate points of the moving target;

Respectively calculate the reliability factor between each coordinate point in the possible coordinate points and each anchor node in the Wireless Location System;

Calculate the weight of each coordinate point according to the reliability factor between each coordinate point and each anchor node in the Wireless Location System;

According to the weight of each coordinate point, weighting processing is performed on each coordinate point to obtain the first positioning result of the moving target, and the average value of the weight of each coordinate point is calculated as the Describe the weighting factor of the first positioning result.

Preferably, the second positioning result of the moving target is obtained by using the inertial navigation system, and the weighting factor of the second positioning result is obtained by calculation, including:

According to the set positioning cycle, the following operations are performed cyclically:

Using an inertial navigation system, the moving target is positioned to obtain a second positioning result for the moving target;

According to the time when the second positioning result is obtained, and the preset reliability calculation function, the weighting factor of the second positioning result is calculated; wherein, the reliability calculation function is used to calculate in one positioning cycle The function of the weight factor of the obtained positioning result;

At the end of the positioning period, the inertial navigation system is controlled, and the reference positioning information is reset to the value obtained by weighted fusion of the wireless positioning system and the calculation data of the inertial navigation system at the end of the current positioning period. The positioning result of the moving target.

Preferably, the detecting whether the moving target changes from a moving state to a stationary state includes:

monitoring the solution results of the gyroscope and accelerometer of the inertial navigation system;

When the monitoring confirms that the calculation results of the gyroscope and the accelerometer of the inertial navigation system are within the set threshold range, it is confirmed that the moving target has changed from a moving state to a stationary state.

A positioning device, comprising:

The positioning unit is used to obtain the first positioning result of the moving target by using the wireless positioning system, and calculate the weight factor of the first positioning result, and use the inertial navigation system to obtain the second positioning result of the moving target. Positioning result, and calculating the weight factor of the second positioning result;

The fusion unit is configured to perform weighted fusion processing on the first positioning result and the second positioning result according to the weighting factor of the first positioning result and the weighting factor of the second positioning result, to obtain the The positioning result of the moving target;

a detection unit for detecting whether the moving target changes from a motion state to a stationary state;

a first processing unit, configured to control the positioning unit to stop using the inertial navigation system to obtain a second positioning result for the moving target when it is detected that the moving target changes from a moving state to a stationary state, and Stop the calculation to obtain the weight factor of the second positioning result, and keep using the wireless positioning system to obtain the first positioning result of the moving target. The first positioning result of the target is calculated to obtain the positioning result of the moving target;

The second processing unit is configured to control the positioning unit to use the first positioning result for the moving target calculated according to the wireless positioning system when it is detected that the moving target enters the moving state from the stationary state again, According to the positioning result of the moving target obtained by calculation, the inertial navigation system is subjected to parameter zeroing and correction processing, and the positioning unit is controlled to start using the inertial navigation system to obtain the first position of the moving target. Two positioning results are obtained, and a weight factor of the second positioning results is obtained by calculation.

Preferably, when the positioning unit uses a wireless positioning system to obtain the first positioning result of the moving target, and calculates and obtains the weighting factor of the first positioning result, it is specifically used for:

Use the wireless positioning system to calculate and obtain the possible coordinate points of the moving target; separately calculate and obtain the reliability factor between each coordinate point in the possible coordinate points and each anchor node in the wireless positioning system; The reliability factor between each coordinate point and each anchor node in the wireless positioning system is calculated to obtain the weight of each coordinate point; according to the weight of each coordinate point, the The weighting process is performed to obtain the first positioning result of the moving target, and the average value of the weights of each coordinate point is calculated and obtained as the weighting factor of the first positioning result.

Preferably, when the positioning unit uses an inertial navigation system to obtain a second positioning result for the moving target, and calculates a weight factor for the second positioning result, it is specifically used for:

According to the set positioning cycle, the following operations are performed cyclically:

Using the inertial navigation system, the moving target is positioned to obtain the second positioning result of the moving target; according to the time when the second positioning result is obtained and the preset reliability calculation function, the The weighting factor of the second positioning result; wherein, the reliability calculation function is a function used to calculate the weighting factor of the positioning result obtained in one positioning cycle; at the end of the positioning cycle, the inertial navigation system is controlled, and the reference The positioning information is reset to the positioning result of the moving target obtained by weighted fusion of the solution data of the wireless positioning system and the inertial navigation system at the end of the current positioning cycle.

Preferably, when the detection unit detects whether the moving target changes from a moving state to a stationary state, it is specifically used for:

Monitoring the calculation results of the gyroscope and accelerometer of the inertial navigation system; when monitoring and confirming that the calculation results of the gyroscope and accelerometer of the inertial navigation system are within the set threshold range, confirm that the moving target is determined by The state of motion changes to the state of rest.

A positioning system comprising:

a first positioning unit, configured to obtain a first positioning result for a moving target by using a wireless positioning system, and calculate a weight factor of the first positioning result;

a second positioning unit, configured to obtain a second positioning result for the moving target by using an inertial navigation system, and calculate a weighting factor for the second positioning result;

The fusion processing unit is configured to perform weighted fusion processing on the first positioning result and the second positioning result according to the weighting factor of the first positioning result and the weighting factor of the second positioning result, to obtain the the positioning result of the moving target;

A detection processing unit, configured to detect whether the moving target changes from a moving state to a static state; when detecting that the moving target changes from a moving state to a static state, control the second positioning unit to stop using the inertial navigation system Solve to obtain the second positioning result for the moving target, and stop calculating the weight factor of the second positioning result, and at the same time control the first positioning unit to keep using the wireless positioning system to obtain the moving target. The first positioning result of the target, and according to the first positioning result of the moving target obtained by the wireless positioning system, the positioning result of the moving target is calculated; when it is detected that the moving target is in a stationary state When entering the motion state again, use the first positioning result for the moving target calculated according to the wireless positioning system, and the calculated positioning result for the moving target to zero the parameters of the inertial navigation system. processing and correction processing, and controlling the second positioning unit to start using the inertial navigation system to obtain a second positioning result for the moving target, and to calculate a weight factor for the second positioning result.

Preferably, the first positioning unit includes:

The solving and positioning unit is used to obtain the possible coordinate points of the moving target by using the wireless positioning system;

a first calculating unit, configured to separately calculate and obtain the reliability factor between each coordinate point in the possible coordinate points and each anchor node in the Wireless Location System;

a second calculation unit, configured to calculate the weight of each coordinate point according to the reliability factor between each coordinate point and each anchor node in the Wireless Location System;

a third calculation unit, configured to perform weighting processing on each coordinate point according to the weight of each coordinate point, obtain a first positioning result for the moving target, and calculate and obtain the weight of each coordinate point The average value of the weights is used as the weighting factor of the first positioning result.

Preferably, when the second positioning unit uses an inertial navigation system to obtain a second positioning result for the moving target, and calculates a weight factor for the second positioning result, it is specifically used for:

According to the set positioning cycle, the following operations are performed cyclically:

Using the inertial navigation system, the moving target is positioned to obtain the second positioning result of the moving target; according to the time when the second positioning result is obtained and the preset reliability calculation function, the The weighting factor of the second positioning result; wherein, the reliability calculation function is a function used to calculate the weighting factor of the positioning result obtained in one positioning cycle; at the end of the positioning cycle, the inertial navigation system is controlled, and the reference The positioning information is reset to the positioning result of the moving target obtained by weighted fusion of the solution data of the wireless positioning system and the inertial navigation system at the end of the current positioning cycle.

Preferably, when the detection processing unit detects whether the moving target changes from a moving state to a stationary state, it is specifically used for:

monitoring the solution results of the gyroscope and accelerometer of the inertial navigation system;

When the monitoring confirms that the calculation results of the gyroscope and the accelerometer of the inertial navigation system are within the set threshold range, it is confirmed that the moving target has changed from a moving state to a stationary state.

The positioning method proposed by the present invention uses the wireless positioning system to obtain the first positioning result of the moving target, and calculates the weight factor of the first positioning result, and uses the inertial navigation system to obtain the first positioning result for the moving target. the second positioning result, and calculate the weighting factor of the second positioning result; according to the weighting factor of the first positioning result and the weighting factor of the second positioning result, compare the first positioning result and the The second positioning result is subjected to weighted fusion processing to obtain the positioning result of the moving target. At the same time, when it is detected that the moving target is in a stationary state, the inertial navigation system is stopped to locate the moving target, and only the wireless positioning system is used to locate the moving target; when it is detected that the moving target starts to move again, the positioning of the wireless positioning system is used. As a result, correction processing is performed on the inertial navigation system. By adopting the above positioning technical scheme, the dynamic weighting based on the error characteristic analysis of the positioning results of the inertial navigation system and the wireless positioning system is realized, so that the weight distribution and inertia of the positioning results obtained by the inertial navigation system and the positioning results obtained by the wireless positioning system are The positioning process of the navigation system and the wireless positioning system is matched, and the correction of the inertial navigation system is realized during the positioning process, which reduces the positioning error of the inertial navigation system and is conducive to improving the positioning accuracy.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

1 is a schematic flowchart of a positioning method according to an embodiment of the present invention;

2 is a schematic flowchart of a positioning using a wireless positioning system provided by an embodiment of the present invention;

3 is a schematic flowchart of positioning using an inertial navigation system provided by an embodiment of the present invention;

4 is a schematic diagram of a reliability decay curve of an inertial navigation system positioning result provided by an embodiment of the present invention;

5 is a schematic flow chart of judging that a positioning target is in a stationary state provided by an embodiment of the present invention;

6 is a schematic structural diagram of a positioning device provided by an embodiment of the present invention;

7 is a schematic diagram of the composition of a positioning system provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of the composition of another positioning system provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

An embodiment of the present invention discloses a positioning method, as shown in FIG. 1 , the method includes:

S101, using a wireless positioning system to obtain a first positioning result for a moving target, and calculating a weight factor for the first positioning result, and using an inertial navigation system to obtain a second positioning result for the moving target, and calculating the weight factor of the second positioning result;

Specifically, the positioning method proposed by the embodiments of the present invention is a novel positioning method based on a wireless positioning system and an inertial navigation system. Different from the conventional wireless positioning technology and inertial navigation positioning technology, the technical solution of the embodiment of the present invention uses the wireless positioning technology and the inertial navigation positioning technology to obtain the position information of the positioning target, and also calculates the wireless positioning technology and the positioning target in real time. The weighting factor of the positioning information obtained by inertial navigation and positioning technology. The above-mentioned positioning information specifically includes the coordinate point information of the positioning target obtained by using the wireless positioning technology, and the relevant position information of the positioning target obtained by the inertial navigation system.

It should be noted that the above process of calculating the weight factor of the positioning information obtained by the wireless positioning technology and the inertial navigation positioning technology in real time is related to the change characteristics of the positioning accuracy of the wireless positioning technology and the inertial navigation positioning technology. The basic idea is that when the positioning accuracy of the wireless positioning technology or the inertial navigation positioning technology is high, the weight factor of the calculated positioning result of the wireless positioning technology or the inertial navigation positioning technology should be larger; When the positioning accuracy of the inertial navigation and positioning technology is low, the weight factor of the calculated wireless positioning technology or the positioning result of the inertial navigation and positioning technology should be small. Using the above weight factor calculation method, according to the positioning accuracy changes of the wireless positioning technology and the inertial navigation positioning technology, the weight factors of the positioning results of the wireless positioning technology and the inertial navigation positioning technology are adjusted in real time, so that the positioning of the wireless positioning technology and the inertial navigation positioning technology can be adjusted in real time. The weight assignment of the results is more in line with the changes in the positioning accuracy of the actual wireless positioning technology and inertial navigation positioning technology.

Further, since the positioning accuracy of the inertial navigation and positioning technology is related to the working time of the inertial navigation system, the calculation process of the weighting factor of the positioning result of the inertial navigation and positioning technology is related to the positioning time using the inertial navigation and positioning technology.

It should also be noted that wireless positioning includes Bluetooth positioning, cellular positioning, WIFI positioning, and ultra-wideband positioning. In the embodiment of the present invention, an ultra-wideband radio is selected for wireless positioning, that is, the wireless positioning system involved in the embodiment of the present invention is actually an ultra-wideband (Ultra Wideband, UWB) wireless positioning system. The embodiments of the present invention only take the UWB positioning system in the wireless positioning system as an example to illustrate the application of the wireless positioning technology in the technical solutions of the embodiments of the present invention, but it is not limited that the technical solutions of the embodiments of the present invention can only be implemented by the UWB positioning system For wireless positioning, any wireless positioning technology or a satellite positioning system can be used outdoors to implement the technical solutions of the embodiments of the present invention. In addition, for the convenience of writing, in the following embodiments, the UWB positioning system is used to represent the wireless positioning system. The UWB positioning involved in the following embodiments can be understood as wireless positioning, that is, any wireless positioning technology or satellite. The positioning system can be applied to the technical solutions of the following embodiments.

S102. Perform a weighted fusion process on the first positioning result and the second positioning result according to the weighting factor of the first positioning result and the weighting factor of the second positioning result, to obtain the weighting factor of the moving target. positioning result;

Specifically, in step S101, the first positioning result obtained by using the UWB positioning technology and the weight factor of the first positioning result, and the second positioning result and the second positioning result obtained by using the inertial navigation positioning technology are obtained respectively. After the weight factor is determined, the first location result and the second location result are weighted and fused according to the weight factor of the first location result and the weight factor of the second location result to obtain the final location result.

为计算得到的第一定位结果的权重因子，β为计算得到的第二定位结果的权重因子，则依据本发明实施例技术方案，利用loc_UWB、loc_INS、

和β可计算得到最终的定位结果loc为：For example, suppose that loc _UWB is the first positioning result of the moving target obtained by using UWB positioning technology, and loc _INS is the second positioning result of the moving target obtained by using the inertial navigation system,

is the weight factor of the first positioning result obtained by calculation, and β is the weight factor of the second positioning result obtained by calculation, then according to the technical solution of the embodiment of the present invention, loc _UWB , loc _INS ,

and β can be calculated to obtain the final positioning result loc as:

S103, detecting whether the moving target changes from a motion state to a stationary state;

When it is detected that the moving target has changed from a moving state to a stationary state, step S104 is executed to stop using the inertial navigation system to obtain a second positioning result for the moving target, and stop calculating to obtain the second positioning The weight factor of the result, while maintaining the first positioning result of the moving target obtained by the wireless positioning system, and according to the first positioning result of the moving target obtained by the wireless positioning system, calculate obtaining the positioning result of the moving target;

When it is detected that the moving target enters the moving state from the stationary state again, step S105 is performed, using the first positioning result for the moving target obtained by the wireless positioning system, and the calculated value for the moving target The positioning result is obtained, the parameter zeroing and correction processing are performed on the inertial navigation system, and the second positioning result for the moving target is obtained by calculating the inertial navigation system, and the second positioning result is obtained by calculation. weight factor.

Specifically, in the embodiment of the present invention, once it is detected that the positioning target is in a stationary state, the state of correcting the position information and parameters of the inertial navigation system is immediately entered, that is, the state of correcting the inertial navigation system is entered. When in the state of correcting the inertial navigation system, only the positioning target is positioned through the wireless positioning system, the position information of the positioning target is continuously obtained when the positioning target is stationary, the energy accumulation of the position information is carried out, and the positioning result is finally obtained. When it is detected that the positioning target starts to move, the state of correcting the inertial navigation system is ended, and the parameters of the inertial navigation system are zeroed and corrected by using the positioning result of the wireless positioning system, and then the inertial navigation system is used to calculate the result. The second positioning result of the moving target is calculated, and the weight factor of the second positioning result is obtained.

The positioning method proposed in the embodiment of the present invention uses a wireless positioning system to obtain a first positioning result for a moving target, calculates a weighting factor for the first positioning result, and uses an inertial navigation system to obtain a first positioning result for the moving target. The second positioning result of the target, and calculate the weighting factor of the second positioning result; according to the weighting factor of the first positioning result and the weighting factor of the second positioning result, compare the first positioning result and the The second positioning result is subjected to weighted fusion processing to obtain the positioning result of the moving target. At the same time, when it is detected that the moving target is in a stationary state, the inertial navigation system is stopped to locate the moving target, and only the wireless positioning system is used to locate the moving target; when it is detected that the moving target starts to move again, the positioning of the wireless positioning system is used. As a result, correction processing is performed on the inertial navigation system. By adopting the above positioning technical scheme, the dynamic weighting based on the error characteristic analysis of the positioning results of the inertial navigation system and the wireless positioning system is realized, so that the weight distribution and inertia of the positioning results obtained by the inertial navigation system and the positioning results obtained by the wireless positioning system are The positioning process of the navigation system and the wireless positioning system is matched, and the correction of the inertial navigation system is realized during the positioning process, which reduces the positioning error of the inertial navigation system and is conducive to improving the positioning accuracy.

Optionally, in another embodiment of the present invention, as shown in FIG. 2 , the first positioning result of the moving target is obtained by using the wireless positioning system, and the weight factor of the first positioning result is obtained by calculation. ,include:

S201, using a wireless positioning system to obtain possible coordinate points of the moving target;

Specifically, the positioning principle of the wireless positioning system is to determine the position of the positioning target point by measuring the time between the radio wave from the positioning target point to a plurality of known anchor nodes. In the actual calculation and positioning process, due to the existence of multipath interference and noise interference, the position of the calculated positioning target point is actually several coordinate points, and these coordinate points constitute a calculation area. That is to say, based on the working principle of the wireless positioning system, a plurality of coordinate points will be obtained by using the wireless positioning system to locate the moving target.

S202, respectively calculating the reliability factor between each coordinate point in the possible coordinate points and each anchor node in the wireless positioning system;

Specifically, for multiple coordinate points obtained by the wireless positioning system, the residuals between each coordinate point and the anchor node are calculated separately:

Among them, (x _i , y _i ) is the i-th coordinate point in the positioning target coordinate points calculated by the wireless positioning system at a certain moment, (x _j , y _j ) is the j-th anchor node, and τ _i is The time it takes to send information from the i-th coordinate point to the time when the anchor node receives the information.

Then, local weighting is performed on the coordinates in the calculated coordinate point area, and the reliability factor between the ith coordinate point and the jth anchor node can be obtained:

Among them, d _max (x) is the maximum value in d _ij (x), and d _ij (x) is the residual between the i-th coordinate and the j-th anchor node.

According to the above calculation method, the reliability factor between each coordinate point and each anchor node in the wireless positioning system is calculated separately.

S203. Calculate the weight of each coordinate point according to the reliability factor between each coordinate point and each anchor node in the Wireless Location System;

可计算得到每个坐标点的权重。其中，K为无线定位系统中的锚节点数量。Specifically, after calculating the reliability factor α _ij of each coordinate point through step S202, the formula

The weight of each coordinate point can be calculated. Among them, K is the number of anchor nodes in the Wireless Location System.

S204. Perform weighting processing on each coordinate point according to the weight of each coordinate point to obtain a first positioning result for the moving target, and calculate the average value of the weight of each coordinate point, as the weighting factor of the first positioning result.

Specifically, after calculating the weight of each coordinate point in step S203, further according to the weight of each coordinate point, each coordinate point is weighted and summed to obtain the positioning result of the mobile target by the wireless positioning system, that is, the first Positioning results.

Referring to the calculation result of step S203, it is assumed that the weight α _i of each coordinate point has been calculated, and then the final positioning result is calculated according to the following formula:

N为无线定位系统解算得到的坐标点数量。in,

N is the number of coordinate points obtained by the wireless positioning system.

为：Further, the average value of the weight of each coordinate point is calculated as the weight factor of the first positioning result, that is, the weight factor of the first positioning result.

for:

Optionally, in another embodiment of the present invention, as shown in FIG. 3 , the inertial navigation system is used to obtain the second positioning result of the moving target, and the second positioning result of the second positioning result is calculated. Weighting factors, including:

According to the set positioning cycle, the following operations are performed cyclically:

S301, using an inertial navigation system to locate the moving target to obtain a second positioning result for the moving target;

Specifically, for the inertial navigation system, with the increase of working time, its integral cumulative error becomes larger and larger. After the system works for T seconds, the positioning error is too large. At this time, the positioning result is considered unreliable. In order to ensure the positioning accuracy, Positioning results after T seconds should not be used. Based on the above error characteristics of the inertial navigation system, the embodiment of the present invention sets a positioning period (for example, T seconds) for the inertial navigation system. During the positioning period, the positioning result of the inertial navigation system is credible, and the positioning period is The positioning result is recorded as the second positioning result. When the working time of the inertial navigation system exceeds the positioning period, the setting system resets the reference positioning information, and restarts the positioning based on the new reference positioning information, and starts a new cycle of positioning work.

S302. Calculate the weighting factor of the second positioning result according to the time when the second positioning result is obtained and a preset reliability calculation function; wherein, the reliability calculation function is used to calculate a The function of the weighting factor of the positioning results obtained in the period;

Specifically, in the embodiment of the present invention, for the characteristic that the positioning accuracy of the inertial navigation system decreases with time, the weighting factor of the positioning result of the inertial navigation system in one positioning cycle is set as β∈[0,1].

Further, according to the characteristic of the accumulated error of the inertial navigation system, the reliability of the positioning result (ie the second positioning result) is set to decrease with the increase of the working time. Using Weber decay, set the reliability calculation function:

Among them, 65 is the decay half-life of the function, and 2.5 is a fixed parameter.

In addition, the period of the above calculation function is set as the set positioning period (for example, T seconds), and its decay curve is shown in FIG. 4 .

According to the above reliability calculation function, when the inertial navigation system solves and obtains the second positioning result, the reliability of the second positioning result is calculated as its weight factor.

S303. At the end of the positioning cycle, control the inertial navigation system, and reset the reference positioning information to the pair obtained by weighted fusion of the wireless positioning system and the solution data of the inertial navigation system at the end of the current positioning cycle. The positioning result of the moving target.

Specifically, since the positioning accuracy of the inertial navigation system decreases with time, the embodiment of the present invention sets a positioning cycle for the inertial navigation system. At the end of each positioning cycle, the inertial navigation system takes the time zero at the end of the positioning cycle. , to restart positioning. Moreover, at the end of a positioning cycle, the inertial navigation system resets the reference positioning information, and no longer continues to calculate the positioning target position based on the previously calculated position information, but restarts the calculation based on the reset reference positioning information. , so that at the beginning of each positioning cycle, the accumulated error of the previous positioning cycle can be eliminated, and the positioning accuracy can be improved.

In the embodiment of the present invention, when the inertial navigation system is set to reset the reference positioning information at the end of a positioning cycle, the reference positioning information is reset to the dynamic fusion positioning of the wireless positioning system and the inertial navigation system at the end of the positioning cycle. positioning results.

Optionally, in another embodiment of the present invention, the detecting whether the moving target changes from a moving state to a stationary state includes:

monitoring the solution results of the gyroscope and accelerometer of the inertial navigation system;

When the monitoring confirms that the calculation results of the gyroscope and the accelerometer of the inertial navigation system are within the set threshold range, it is confirmed that the moving target has changed from a moving state to a stationary state.

Specifically, an embodiment of the present invention provides a method for judging whether the moving target changes from a moving state to a static state. Referring to FIG. 5 , the three-axis gyroscope, three-axis accelerometer, and accelerometer of the inertial navigation system can be used to solve the problem. The variance value of the calculated acceleration is determined, and if its output is within the set threshold range, it can be determined that the position of the positioning target has not changed, that is, the moving target has changed from a moving state to a stationary state.

An embodiment of the present invention discloses a positioning device, as shown in FIG. 6 , the device includes:

The positioning unit 601 is configured to obtain the first positioning result of the moving target by using the wireless positioning system, and calculate the weight factor of the first positioning result, and use the inertial navigation system to obtain the first positioning result of the moving target. Two positioning results, and calculating the weight factor of the second positioning result;

The fusion unit 602 is configured to perform weighted fusion processing on the first positioning result and the second positioning result according to the weighting factor of the first positioning result and the weighting factor of the second positioning result, to obtain the the positioning result of the moving target;

A detection unit 603, configured to detect whether the moving target changes from a motion state to a stationary state;

The first processing unit 604 is configured to control the positioning unit 601 to stop using the inertial navigation system to obtain a second positioning result for the moving target when it is detected that the moving target changes from a moving state to a stationary state , and stop the calculation to obtain the weight factor of the second positioning result, while maintaining the first positioning result for the moving target calculated by the Wireless Positioning System, and based on the calculation of the Wireless Positioning System The first positioning result of the moving target is calculated to obtain the positioning result of the moving target;

The second processing unit 605 is configured to control the positioning unit 601 to use the first positioning of the moving target calculated according to the wireless positioning system when it is detected that the moving target re-enters the moving state from the stationary state As a result, according to the calculated positioning result of the moving target, the inertial navigation system is subjected to parameter zeroing and correction processing, and the positioning unit 601 is controlled to start using the inertial navigation system to calculate and obtain the moving target. The second positioning result is obtained, and the weight factor of the second positioning result is obtained by calculation.

Specifically, for the specific work content of each unit in this embodiment, please refer to the content of the corresponding method embodiment, which will not be repeated here.

In the positioning device proposed in the embodiment of the present invention, when positioning the positioning target, the positioning unit 601 firstly obtains the first positioning result of the moving target by using the wireless positioning system, and calculates the weight factor of the first positioning result. , and use the inertial navigation system to calculate and obtain the second positioning result of the moving target, and calculate the weighting factor of the second positioning result; then the fusion unit 602 is based on the weighting factor of the first positioning result, and the A weighting factor of the second positioning result is used, and weighted fusion processing is performed on the first positioning result and the second positioning result to obtain a positioning result for the moving target. At the same time, when the detection unit 603 detects that the moving target is in a stationary state, the first processing unit 604 controls the positioning unit 601 to stop using the inertial navigation system to position the moving target, and only use the wireless positioning system to position the moving target; When the target starts to move again, the second processing unit 605 controls the positioning unit 601 to perform correction processing on the inertial navigation system using the positioning result of the wireless positioning system. By adopting the above positioning technical scheme, the dynamic weighting based on the error characteristic analysis of the positioning results of the inertial navigation system and the wireless positioning system is realized, so that the weight distribution and inertia of the positioning results obtained by the inertial navigation system and the positioning results obtained by the wireless positioning system are The positioning process of the navigation system and the wireless positioning system is matched, and the correction of the inertial navigation system is realized in the positioning process, which reduces the positioning error of the inertial navigation system and is conducive to improving the positioning accuracy.

Optionally, in another embodiment of the present invention, when the positioning unit 601 uses the wireless positioning system to obtain the first positioning result of the moving target, and calculates the weighting factor of the first positioning result, it is specifically used for: :

Use the wireless positioning system to calculate and obtain the possible coordinate points of the moving target; separately calculate and obtain the reliability factor between each coordinate point in the possible coordinate points and each anchor node in the wireless positioning system; The reliability factor between each coordinate point and each anchor node in the wireless positioning system is calculated to obtain the weight of each coordinate point; according to the weight of each coordinate point, the The weighting process is performed to obtain the first positioning result of the moving target, and the average value of the weights of each coordinate point is calculated and obtained as the weighting factor of the first positioning result.

Specifically, for the specific work content of the positioning unit 601 in this embodiment, please refer to the content of the corresponding method embodiment, which will not be repeated here.

Optionally, in another embodiment of the present invention, when the positioning unit 601 uses an inertial navigation system to obtain a second positioning result for the moving target, and calculates a weighting factor for the second positioning result, specifically: Used for:

According to the set positioning cycle, the following operations are performed cyclically:

Using the inertial navigation system, the moving target is positioned to obtain the second positioning result of the moving target; according to the time when the second positioning result is obtained and the preset reliability calculation function, the The weighting factor of the second positioning result; wherein, the reliability calculation function is a function used to calculate the weighting factor of the positioning result obtained in one positioning cycle; at the end of the positioning cycle, the inertial navigation system is controlled, and the reference The positioning information is reset to the positioning result of the moving target obtained by weighted fusion of the solution data of the wireless positioning system and the inertial navigation system at the end of the current positioning cycle.

Specifically, for the specific work content of the positioning unit 601 in this embodiment, please refer to the content of the corresponding method embodiment, which will not be repeated here.

Optionally, in another embodiment of the present invention, when the detection unit 603 detects whether the moving target changes from a moving state to a stationary state, it is specifically used for:

Monitoring the calculation results of the gyroscope and accelerometer of the inertial navigation system; when monitoring and confirming that the calculation results of the gyroscope and accelerometer of the inertial navigation system are within the set threshold range, confirm that the moving target is determined by The state of motion changes to the state of rest.

Specifically, for the specific work content of the detection unit 603 in this embodiment, please refer to the content of the corresponding method embodiment, which will not be repeated here.

The embodiment of the present invention also discloses a positioning system, as shown in FIG. 7 , the system includes:

A first positioning unit 701, configured to obtain a first positioning result for a moving target by using a wireless positioning system, and calculate a weight factor of the first positioning result;

A second positioning unit 702, configured to obtain a second positioning result for the moving target by using an inertial navigation system, and calculate a weight factor for the second positioning result;

The fusion processing unit 703 is configured to perform weighted fusion processing on the first location result and the second location result according to the weight factor of the first location result and the weight factor of the second location result, to obtain a pair of the positioning result of the moving target;

The detection processing unit 704 is used to detect whether the moving target changes from a moving state to a static state; when it is detected that the moving target changes from a moving state to a static state, the second positioning unit 702 is controlled to stop using the inertial navigation system Solve to obtain the second positioning result for the moving target, and stop the calculation to obtain the weight factor of the second positioning result, while controlling the first positioning unit 701 to keep using the wireless positioning system to obtain the moving target. The first positioning result of the moving target is calculated according to the first positioning result of the moving target obtained by the wireless positioning system, and the positioning result of the moving target is obtained by calculation; When entering the motion state, use the first positioning result for the moving target calculated according to the wireless positioning system, and the calculated positioning result for the moving target to perform parameter zeroing processing on the inertial navigation system and correction processing, and control the second positioning unit 702 to start using the inertial navigation system to obtain a second positioning result for the moving target, and calculate a weight factor for the second positioning result.

Specifically, for the specific work content of each unit in this embodiment, please refer to the content of the corresponding method embodiment, which will not be repeated here.

Optionally, in another embodiment of the present invention, as shown in FIG. 8 , the first positioning unit 701 includes:

Resolving and positioning unit 7011, used for obtaining possible coordinate points of the moving target by using the wireless positioning system;

a first calculating unit 7012, configured to separately calculate and obtain the reliability factor between each coordinate point in the possible coordinate points and each anchor node in the Wireless Location System;

The second calculation unit 7013 is configured to calculate the weight of each coordinate point according to the reliability factor between each coordinate point and each anchor node in the Wireless Location System;

The third calculation unit 7014 is configured to perform weighting processing on each coordinate point according to the weight of each coordinate point, obtain a first positioning result of the moving target, and obtain each coordinate point by calculation The average value of the weights is used as the weighting factor of the first positioning result.

Specifically, for the specific work content of each unit in this embodiment, please refer to the content of the corresponding method embodiment, which will not be repeated here.

Optionally, in another embodiment of the present invention, when the second positioning unit 702 uses an inertial navigation system to obtain a second positioning result for the moving target, and calculates and obtains the weighting factor of the second positioning result. , specifically for:

According to the set positioning cycle, the following operations are performed cyclically:

Using the inertial navigation system, the moving target is positioned to obtain the second positioning result of the moving target; according to the time when the second positioning result is obtained and the preset reliability calculation function, the The weighting factor of the second positioning result; wherein, the reliability calculation function is a function used to calculate the weighting factor of the positioning result obtained in one positioning cycle; at the end of the positioning cycle, the inertial navigation system is controlled, and the reference The positioning information is reset to the positioning result of the moving target obtained by weighted fusion of the solution data of the wireless positioning system and the inertial navigation system at the end of the current positioning cycle.

Specifically, for the specific work content of the second positioning unit 702 in this embodiment, please refer to the content of the corresponding method embodiment, which will not be repeated here.

Optionally, in another embodiment of the present invention, when the detection processing unit 704 detects whether the moving target changes from a moving state to a stationary state, it is specifically used for:

monitoring the solution results of the gyroscope and accelerometer of the inertial navigation system;

When the monitoring confirms that the calculation results of the gyroscope and the accelerometer of the inertial navigation system are within the set threshold range, it is confirmed that the moving target has changed from a moving state to a stationary state.

Specifically, for the specific work content of the detection processing unit 704 in this embodiment, please refer to the content of the corresponding method embodiment, which will not be repeated here.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. A method of positioning, comprising:

calculating by using a wireless positioning system to obtain a first positioning result of a moving target, calculating to obtain a weight factor of the first positioning result, calculating by using an inertial navigation system to obtain a second positioning result of the moving target, and calculating to obtain a weight factor of the second positioning result;

according to the weight factor of the first positioning result and the weight factor of the second positioning result, carrying out weighted fusion processing on the first positioning result and the second positioning result to obtain a positioning result of the moving target;

detecting whether the moving target is changed into a static state from a motion state;

when the mobile target is detected to be changed from a motion state to a static state, stopping calculating by using the inertial navigation system to obtain a second positioning result of the mobile target, stopping calculating to obtain a weight factor of the second positioning result, simultaneously keeping obtaining a first positioning result of the mobile target by using the wireless positioning system, and calculating to obtain a positioning result of the mobile target according to the first positioning result of the mobile target obtained by the wireless positioning system;

when the mobile target is detected to enter the motion state again from the static state, the inertial navigation system is subjected to parameter zeroing processing and correction processing by utilizing a first positioning result of the mobile target obtained by calculation according to the wireless positioning system, and a second positioning result of the mobile target is obtained by calculation, and a weight factor of the second positioning result is obtained by calculation;

the calculating by using the wireless positioning system to obtain a first positioning result of the moving target, and simultaneously calculating a weight factor of the first positioning result, comprises:

calculating to obtain a possible coordinate point of the moving target by using a wireless positioning system;

respectively calculating to obtain a reliability factor between each coordinate point in the possible coordinate points and each anchor node in the wireless positioning system;

calculating the weight of each coordinate point according to the reliability factor between each coordinate point and each anchor node in the wireless positioning system;

according to the weight of each coordinate point, carrying out weighting processing on each coordinate point to obtain a first positioning result of the moving target, and calculating to obtain an average value of the weight of each coordinate point to serve as a weight factor of the first positioning result;

the calculating by using the inertial navigation system to obtain a second positioning result of the moving target, and calculating a weight factor of the second positioning result at the same time includes:

according to the set positioning period, the following operations are executed in a circulating mode:

positioning the moving target by using an inertial navigation system to obtain a second positioning result of the moving target;

calculating to obtain a weight factor of the second positioning result according to the time for obtaining the second positioning result and a preset reliability calculation function; the reliability calculation function is a function used for calculating a weight factor of a positioning result obtained in a positioning period, and the reliability calculation function is a preset reliability calculation function by utilizing Weber attenuation;

and when the positioning period is ended, controlling the inertial navigation system, resetting the reference positioning information to the positioning result of the mobile target obtained by weighting and fusing the resolving data of the wireless positioning system and the inertial navigation system at the end time of the current positioning period.

2. The method of claim 1, wherein the detecting whether the moving object is transitioned from a moving state to a stationary state comprises:

monitoring the calculation results of a gyroscope and an accelerometer of the inertial navigation system;

and when monitoring and confirming that the calculation results of the gyroscope and the accelerometer of the inertial navigation system are within a set threshold range, confirming that the moving target is converted from a motion state to a static state.

3. A positioning device, comprising:

the positioning unit is used for calculating by using a wireless positioning system to obtain a first positioning result of a moving target and calculating a weight factor of the first positioning result, calculating by using an inertial navigation system to obtain a second positioning result of the moving target and calculating a weight factor of the second positioning result;

the fusion unit is used for performing weighted fusion processing on the first positioning result and the second positioning result according to the weight factor of the first positioning result and the weight factor of the second positioning result to obtain a positioning result of the moving target;

the detection unit is used for detecting whether the moving target is converted into a static state from a motion state;

the first processing unit is used for controlling the positioning unit to stop utilizing the inertial navigation system to obtain a second positioning result of the moving target and stop calculating a weight factor of the second positioning result when the moving target is detected to be converted from a moving state to a static state, meanwhile keeping utilizing the wireless positioning system to obtain a first positioning result of the moving target, and calculating a positioning result of the moving target according to the first positioning result of the moving target obtained by the wireless positioning system;

the second processing unit is used for controlling the positioning unit to perform parameter zeroing processing and correction processing on the inertial navigation system by utilizing a first positioning result of the mobile target obtained by calculation according to the wireless positioning system when the mobile target is detected to enter a motion state again from a static state, controlling the positioning unit to start to obtain a second positioning result of the mobile target by calculation through the inertial navigation system, and calculating a weight factor of the second positioning result;

the positioning unit is used for calculating by using a wireless positioning system to obtain a first positioning result of the moving target, and when calculating a weight factor of the first positioning result, the positioning unit is specifically used for:

calculating to obtain a possible coordinate point of the moving target by using a wireless positioning system; respectively calculating to obtain a reliability factor between each coordinate point in the possible coordinate points and each anchor node in the wireless positioning system; calculating the weight of each coordinate point according to the reliability factor between each coordinate point and each anchor node in the wireless positioning system; according to the weight of each coordinate point, carrying out weighting processing on each coordinate point to obtain a first positioning result of the moving target, and calculating to obtain an average value of the weight of each coordinate point to serve as a weight factor of the first positioning result;

the positioning unit is configured to obtain a second positioning result of the moving target by using an inertial navigation system to calculate, and when calculating a weight factor of the second positioning result, specifically configured to:

according to the set positioning period, the following operations are executed in a circulating mode:

positioning the moving target by using an inertial navigation system to obtain a second positioning result of the moving target; calculating to obtain a weight factor of the second positioning result according to the time for obtaining the second positioning result and a preset reliability calculation function; the reliability calculation function is a function used for calculating a weight factor of a positioning result obtained in a positioning period, and the reliability calculation function is a preset reliability calculation function by utilizing Weber attenuation; and when the positioning period is ended, controlling the inertial navigation system, resetting the reference positioning information to the positioning result of the mobile target obtained by weighting and fusing the resolving data of the wireless positioning system and the inertial navigation system at the end time of the current positioning period.

4. The apparatus according to claim 3, wherein the detecting unit is configured to, when detecting whether the moving object is converted from the moving state to the stationary state, specifically:

monitoring the calculation results of a gyroscope and an accelerometer of the inertial navigation system; and when monitoring and confirming that the calculation results of the gyroscope and the accelerometer of the inertial navigation system are within a set threshold range, confirming that the moving target is converted from a motion state to a static state.

5. A positioning system, comprising:

the first positioning unit is used for obtaining a first positioning result of the moving target by utilizing a wireless positioning system and calculating a weight factor of the first positioning result;

the second positioning unit is used for obtaining a second positioning result of the moving target by utilizing the inertial navigation system to calculate, and meanwhile, calculating a weight factor of the second positioning result;

the fusion processing unit is used for performing weighted fusion processing on the first positioning result and the second positioning result according to the weight factor of the first positioning result and the weight factor of the second positioning result to obtain a positioning result of the moving target;

the detection processing unit is used for detecting whether the moving target is converted into a static state from a motion state; when the mobile target is detected to be changed from a motion state to a static state, controlling the second positioning unit to stop obtaining a second positioning result of the mobile target by utilizing the inertial navigation system for calculation, stopping obtaining a weight factor of the second positioning result by computing, simultaneously controlling the first positioning unit to keep obtaining a first positioning result of the mobile target by utilizing the wireless positioning system for calculation, and obtaining a positioning result of the mobile target by computing according to the first positioning result of the mobile target obtained by the wireless positioning system for calculation; when the mobile target is detected to enter the motion state again from the static state, the inertial navigation system is subjected to parameter zeroing processing and correction processing by utilizing a first positioning result of the mobile target obtained by calculation according to the wireless positioning system, the second positioning unit is controlled to start to obtain a second positioning result of the mobile target by utilizing the inertial navigation system, and a weight factor of the second positioning result is obtained by calculation;

the first positioning unit includes:

the resolving and positioning unit is used for resolving and obtaining possible coordinate points of the moving target by utilizing a wireless positioning system;

the first calculation unit is used for respectively calculating and obtaining a reliability factor between each coordinate point in the possible coordinate points and each anchor node in the wireless positioning system;

the second calculation unit is used for calculating the weight of each coordinate point according to the reliability factor between each coordinate point and each anchor node in the wireless positioning system;

a third calculating unit, configured to perform weighting processing on each coordinate point according to the weight of each coordinate point to obtain a first positioning result of the moving target, and calculate an average value of the weights of each coordinate point to obtain a weight factor of the first positioning result;

the second positioning unit obtains a second positioning result of the moving target by using an inertial navigation system to calculate, and when calculating a weight factor of the second positioning result, is specifically configured to:

according to the set positioning period, the following operations are executed in a circulating mode:

positioning the moving target by using an inertial navigation system to obtain a second positioning result of the moving target; calculating to obtain a weight factor of the second positioning result according to the time for obtaining the second positioning result and a preset reliability calculation function; the reliability calculation function is a function used for calculating a weight factor of a positioning result obtained in a positioning period, and the reliability calculation function is a preset reliability calculation function by utilizing Weber attenuation; and when the positioning period is ended, controlling the inertial navigation system, resetting the reference positioning information to the positioning result of the mobile target obtained by weighting and fusing the resolving data of the wireless positioning system and the inertial navigation system at the end time of the current positioning period.

6. The system according to claim 5, wherein the detection processing unit, when detecting whether the moving object is converted from the moving state to the stationary state, is specifically configured to:

monitoring the calculation results of a gyroscope and an accelerometer of the inertial navigation system;

and when monitoring and confirming that the calculation results of the gyroscope and the accelerometer of the inertial navigation system are within a set threshold range, confirming that the moving target is converted from a motion state to a static state.

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