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Title:
INDOOR POSITIONING AND NAVIGATION SYSTEM BASED ON IMU AND UWB FUSION
Document Type and Number:
WIPO Patent Application WO/2020/248154
Kind Code:
A1
Abstract:
An indoor positioning and navigation system based on IMU and UWB fusion. The indoor positioning and navigation system based on IMU and UWB fusion comprises an IMU sensor (1), an IMU position calculation unit (2), a UWB sensor (3), a UWB position calculation unit (4) and a fusion position calculation unit (5). An IMU and a UWB are combined using a fusion positioning algorithm; data obtained by the IMU is used as prior information of Kalman filtering; and data obtained by the UWB is used as observation information of Kalman filtering. The positioning and navigation precision of the system can be effectively improved using the advantages respectively shown by an IMU and a UWB; and high-precision indoor positioning and navigation of an objective can be realized using a small quantity of observation stations, such that the use thereof in high-accuracy indoor positioning and navigation scenario requirements is realized.

Inventors:
FENG DAQUAN (CN)
WANG CHUNQI (CN)
HE CHUNLONG (CN)
WANG KAIYUAN (CN)
LONG LITAI (CN)
LAI LIFENG (CN)
ZHOU JIAN (CN)
LIU MENGYUE (CN)
Application Number:
PCT/CN2019/090855
Publication Date:
December 17, 2020
Filing Date:
June 12, 2019
Export Citation:
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Assignee:
UNIV SHENZHEN (CN)
International Classes:
G05B19/042
Foreign References:
CN109828510A2019-05-31
CN109828510A2019-05-31
CN205679238U2016-11-09
Other References:
ZHAO, DENGKANG: "Localization and Navigation in Complicated Environments Using UWB and IMU", CHINESE MASTER’S THESES FULL-TEXT DATABASE (ELECTRONIC JOURNAL), 31 December 2016 (2016-12-31), pages 1 - 64, XP055763549
WANG, CHUN-QI ET AL.: "Enhanced Asymmetric Double Side Two-way Ranging Algorithm for UWB Ranging System", JOURNAL OF NANCHANG INSTITUTE OF AERONAUTICAL TECHNOLOGY (NATURAL SCIENCE EDITION), vol. 33, no. 1, 30 March 2019 (2019-03-30), pages 1 - 8, XP055763555
Attorney, Agent or Firm:
HENSEN INTELLECTUAL PROPERTY FIRM (CN)
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