CN110320497A - 基于vlc与imu的粒子滤波融合定位方法 - Google Patents
基于vlc与imu的粒子滤波融合定位方法 Download PDFInfo
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- CN110320497A CN110320497A CN201910480104.XA CN201910480104A CN110320497A CN 110320497 A CN110320497 A CN 110320497A CN 201910480104 A CN201910480104 A CN 201910480104A CN 110320497 A CN110320497 A CN 110320497A
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- CN
- China
- Prior art keywords
- positioning
- vlc
- particle
- imu
- particle filter
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- 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.)
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Classifications
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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
- G01C21/10—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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Navigation (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
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CN201910480104.XA CN110320497B (zh) | 2019-06-04 | 2019-06-04 | 基于vlc与imu的粒子滤波融合定位方法 |
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CN201910480104.XA CN110320497B (zh) | 2019-06-04 | 2019-06-04 | 基于vlc与imu的粒子滤波融合定位方法 |
Publications (2)
Publication Number | Publication Date |
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CN110320497A true CN110320497A (zh) | 2019-10-11 |
CN110320497B CN110320497B (zh) | 2022-02-11 |
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CN201910480104.XA Expired - Fee Related CN110320497B (zh) | 2019-06-04 | 2019-06-04 | 基于vlc与imu的粒子滤波融合定位方法 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113790728A (zh) * | 2021-09-29 | 2021-12-14 | 佛山市南海区广工大数控装备协同创新研究院 | 一种基于视觉里程计的松耦合多传感器融合定位算法 |
CN114189813A (zh) * | 2021-11-30 | 2022-03-15 | 中国人民解放军战略支援部队信息工程大学 | 基于可见光通信的目标定位方法及*** |
Citations (9)
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---|---|---|---|---|
US20090157309A1 (en) * | 2007-12-18 | 2009-06-18 | Eun-Tae Won | Method for exchanging messages in a navigation system using visible light communications |
CN103808319A (zh) * | 2014-02-26 | 2014-05-21 | 上海交通大学 | 基于惯性定位和vlc技术的室内混合定位***及方法 |
CN104048661A (zh) * | 2014-06-26 | 2014-09-17 | 中国科学技术大学 | 一种基于可见光的室内定位方法及*** |
CN104297726A (zh) * | 2014-10-23 | 2015-01-21 | 东南大学 | 一种面向可见光通信的多接收点几何中心定位***及方法 |
CN104567875A (zh) * | 2014-12-26 | 2015-04-29 | 北京理工大学 | 基于手机惯性定位和vlc的室内混合定位***及方法 |
CN106248077A (zh) * | 2016-07-06 | 2016-12-21 | 北京理工大学 | 一种基于粒子滤波的可见光组合定位***和方法 |
CN107270898A (zh) * | 2017-06-28 | 2017-10-20 | 东南大学 | 基于mems传感器和vlc定位融合的双粒子滤波导航装置和方法 |
CN108507561A (zh) * | 2018-03-05 | 2018-09-07 | 华南理工大学 | 一种基于移动终端的vlc与imu融合定位方法 |
CN109001677A (zh) * | 2018-06-05 | 2018-12-14 | 佛山市南海区广工大数控装备协同创新研究院 | 一种基于航迹推算的移动机器人可见光定位方法 |
-
2019
- 2019-06-04 CN CN201910480104.XA patent/CN110320497B/zh not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090157309A1 (en) * | 2007-12-18 | 2009-06-18 | Eun-Tae Won | Method for exchanging messages in a navigation system using visible light communications |
CN103808319A (zh) * | 2014-02-26 | 2014-05-21 | 上海交通大学 | 基于惯性定位和vlc技术的室内混合定位***及方法 |
CN104048661A (zh) * | 2014-06-26 | 2014-09-17 | 中国科学技术大学 | 一种基于可见光的室内定位方法及*** |
CN104297726A (zh) * | 2014-10-23 | 2015-01-21 | 东南大学 | 一种面向可见光通信的多接收点几何中心定位***及方法 |
CN104567875A (zh) * | 2014-12-26 | 2015-04-29 | 北京理工大学 | 基于手机惯性定位和vlc的室内混合定位***及方法 |
CN106248077A (zh) * | 2016-07-06 | 2016-12-21 | 北京理工大学 | 一种基于粒子滤波的可见光组合定位***和方法 |
CN107270898A (zh) * | 2017-06-28 | 2017-10-20 | 东南大学 | 基于mems传感器和vlc定位融合的双粒子滤波导航装置和方法 |
CN108507561A (zh) * | 2018-03-05 | 2018-09-07 | 华南理工大学 | 一种基于移动终端的vlc与imu融合定位方法 |
CN109001677A (zh) * | 2018-06-05 | 2018-12-14 | 佛山市南海区广工大数控装备协同创新研究院 | 一种基于航迹推算的移动机器人可见光定位方法 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113790728A (zh) * | 2021-09-29 | 2021-12-14 | 佛山市南海区广工大数控装备协同创新研究院 | 一种基于视觉里程计的松耦合多传感器融合定位算法 |
CN114189813A (zh) * | 2021-11-30 | 2022-03-15 | 中国人民解放军战略支援部队信息工程大学 | 基于可见光通信的目标定位方法及*** |
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Publication number | Publication date |
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CN110320497B (zh) | 2022-02-11 |
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SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Wen Shangsheng Inventor after: Guan Weipeng Inventor after: Zhang Yang Inventor after: Chen Bangdong Inventor after: Chen Shihuan Inventor after: Chen Zhounan Inventor before: Wen Shangsheng Inventor before: Zhang Yang Inventor before: Chen Bangdong Inventor before: Guan Weipeng Inventor before: Chen Shihuan Inventor before: Chen Zhounan |
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GR01 | Patent grant | ||
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CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220211 |
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CF01 | Termination of patent right due to non-payment of annual fee |