基于多手段融合的室内外连续定位技术研究
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摘要
为解决当前智能单兵战术定位系统的定位精度不高、不连续的问题,提出一种基于北斗卫星、惯性导航多样化室内随遇校准技术的单兵连续定位方法,以满足单兵在户外及城市多种环境下的普通作战和特种作战要求;利用短距离高精度测量定位的超宽带定位信息,可闭环修正的视觉定位信息效果,将微惯性导航定位技术与蓝牙、WIFI指纹、Zig Bee,超宽带UWB等单一定位方式相结合,实现长短时的高定位精度与可靠性达到提高单兵户外的整体定位精度。
In order to solve the problem of low-accuracy and discontinuity location in the current intelligent single soldier tactical location system,a continuous-location method based on Beidou satellite and inertial navigation indoor calibration technology is proposed to meet the requirements of general operations and special operations of individual soldiers in outdoor and urban environments. Ultra wideband location information is measured by short distance and high precision in order to achieve the effect of the closed loop corrected visual location information. With the multi-approach integration of micro inertial navigation technology and Bluetooth,WIFI fingerprint,Zig Bee,ultra wideband UWB single location technology,it can realize the high location accuracy and reliability when improving the overall positioning accuracy of individual outdoor.
In order to solve the problem of low-accuracy and discontinuity location in the current intelligent single soldier tactical location system,a continuous-location method based on Beidou satellite and inertial navigation indoor calibration technology is proposed to meet the requirements of general operations and special operations of individual soldiers in outdoor and urban environments. Ultra wideband location information is measured by short distance and high precision in order to achieve the effect of the closed loop corrected visual location information. With the multi-approach integration of micro inertial navigation technology and Bluetooth,WIFI fingerprint,Zig Bee,ultra wideband UWB single location technology,it can realize the high location accuracy and reliability when improving the overall positioning accuracy of individual outdoor.
引文
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[2]汪少初.基于惯性导航的人员定位系统研究[J].山东工业技术,2017,11:170-170.
[3]陈国平,马耀辉,张百珂.基于指纹技术的蓝牙室内定位系统[J].电子技术应用,2013,39(3):104-107.
[4]蔡文学,邱珠成,黄晓宇.基于Wi Fi指纹的室内轨迹定位模型[J].计算机工程,2015(6):76-82.
[5]K Gill,SH Yang,F Yao,X Lu.A zigbee-based home automation system[J].IEEE Transactions on Consumer Electronics,2009,55(2):422-430.
[6]仲江涛.基于UWB室内定位算法的研究与实现[D].深圳:深圳大学,2017.
[7]中国卫星导航系统管理办公室.“北斗”卫星导航系统发展报告[J].国际太空,2012(4):6-11.
[8]秦永元.惯性导航[M].北京:科学出版社,2014.
[9]张志涛.基于模糊理论与自动校准技术的室内定位系统研究[D].上海:上海师范大学,2016.
[10]傅丹毅.基于北斗和惯性导航的穿戴式组合定位技术研究[J].数字通信世界,2017,8:131-135.
[11]刘韬,徐爱功,隋心.超宽带与惯性导航组合的室内导航定位[J].测绘科学,2016,41(12):162-166.
[12]刘康.室内视觉定位与导航综述[J].黑龙江科技信息.2017,8:7-7.
[13]濮迪.北斗室内外无缝定位系统设计与仿真分析[J].无线互联科技,2016,11:84-87.
[14]王晓娟,王宣银.基于模糊卡尔曼滤波的移动机器人定位研究[J].计算机工程与应用,2011,47(2):204-206.
[15]边云龙.基于GPS和机器视觉的组合导航定位方法研究[J].建材发展导向:下,2016,14(3):99-103.