| Seamless indoor and outdoor positioning information has received great attention and development at home and abroad,which plays an important supporting role in national defense security,economic development,social and people's livelihood.However,there is still a lack of research on location models and methods for seamless location technology in urban complex environment and indoor GNSS blind environment.Therefore,this paper has carried out the research on indoor and outdoor positioning models and methods based on the fusion of GNSS,UWB,INS and vision sensors focusing on the theme of seamless indoor and outdoor positioning,and some innovations are as follows:(1)In order to solve the problem of lack or destruction of location datum,in the case of blind location environment or emergency situation,a construction method of seamless positioning datum based on UWB/GNSS technology is proposed,which involves three-level for area coverage,on site and indoor seamless positioning datum.This paper mainly researched the construction method of positioning datum based on UWB ad hoc network,and solved the problem of transmission of GNSS outdoor positioning datum to indoor,and finally achieved the automatic construction of UWB indoor positioning base station network with positioning accuracy up to 0.35 m.It can guarantee the indoor and outdoor positioning reference requirements in the location shaded environment or emergency situation.(2)Aiming at the challenge of high-precision,high-continuity and high-reliability navigation and positioning in the complex urban environment,such as high-rise streets,three-dimensional traffic,long-distance tunnels,and wooded streets and so on,a zerospeed constrained GNSS/INS/Odometer tight integrated positioning model is proposed.The error drift of INS equipment is suppressed by GNSS,and the success rate of GNSS ambiguity resolution is improved by INS.Odometer is used to solve the problem of divergence of INS positioning when GNSS is out of lock for a long time.Through the tight combination of the three,we can give full play to the advantages of mutual benefit and achieve high-precision positioning in the above scenarios.Through the tight combination of the three,we can give full play to the advantages of mutual benefit and achieve high-precision positioning in the above scenarios.The results have shown that the model can achieve positioning accuracy of 0.1m except in the situation of long tunnel,which can achieve positioning accuracy of 2m.(3)In view of the fact that UWB ranging accuracy is affected by indoor non-line-of-sight and multi-path,firstly,the UWB ranging error correction model of RBF neural network algorithm is studied.The results have shown that the algorithm can make indoor accuracy of UWB up to 0.08 m..The UWB positioning model based on TOA principle is studied and analyzed,and on this basis,an indoor UWB positioning model based on improved robust EKF is proposed,which adjusts the gain matrix according to the prediction residual to weaken or eliminate the influence of gross error on the state vector.The plane positioning error of this method is 0.13 m,which is improved by 88.98% and 53.57% respectively compared with the least square and EKF algorithms.(4)A high precision indoor positioning model based on the fusion of UWB,PDR and map is proposed.UWB can be used to provide spatial reference for PDR positioning and restrain the divergence of PDR positioning accuracy.PDR is used to improve the positioning frequency of UWB,and the problem of poor UWB signal coverage or no coverage area can be solved at the same time.The indoor map is used to help restrain the divergence of PDR heading angle and the divergence of positioning results.The three learn from each other to achieve absolute positioning datum,highfrequency,high-precision indoor positioning.(5)Aiming at the problem of UWB indoor high-precision positioning in non-lineof-sight environment,a UWB/INS fusion positioning model based on CKF algorithm is proposed.Positioning in indoor non-line-of-sight environment can eliminate the multi-path and non-line-of-sight effects caused by occlusion of UWB signals,and increase the high-frequency attitude information of the positioning results.When the error of IMU integral data increases,the INS positioning result can be constrained by UWB positioning data.(6)Aiming at the problems of monocular vision SLAM,such as scale drift,discontinuous location caused by frequent initialization due to environmental factors,a UWB/ vision fusion localization model considering scale factor is proposed.Through the integration of UWB and vision,we can give full play to the complementary characteristics of the two,and solve the problems of visual initialization,scale blur and absolute spatial reference,and improve the positioning accuracy and frequency of UWB,and reduce the number of base stations.The model can reliably achieve a positioning accuracy of 0.2m in indoor environments with sparse texture or frequently changing light.(7)In this paper,a single image indoor location model aided by coding graphics is proposed.On the basis of a single image,through the principle of collinear between the object point,the image point and the projection center of the camera,and from the known ground coordinates of the coding graphics and the measured values of the image coordinates of the corresponding points in the area covered by the image,the position of the camera at the time of photography is calculated.The coded images,coded graphics and the image and object coordinates of the coded graphics involved in the calculation process can be automatically identified and obtained by the computer.In addition,through the Tukey weight factor model,we can detect the error existing in the coordinate of the coding image,and adjust the weight to participate in the calculation according to the residual error,so as to reduce or restrain the influence of the error of the observation on the positioning result,and the positioning accuracy is better than 0.1m.The feasibility,reliability and positioning accuracy of the theoretical models and methods proposed in this paper have been verified by experiments.The relevant models and methods can be used for indoor and outdoor pedestrians,vehicles and other highprecision positioning.There are 110 figures,25 tables,and 163 references in this dissertation. |
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