Research And Design Of Combined Indoor And Outdoor Positioning Based On Multi-sensors

With the vigorous development of computer technology,human society is undergoing a transition from industrialization to high informatization.As a kind of very critical and sensitive information,positioning information,with the gradual increase of its application scenarios,various positioning technologies are born.Different positioning systems have their own unique advantages,and by combining positioning subsystems with different characteristics,a combined system is formed.They can make full use of different information sources to cooperate with each other to obtain a multifunctional system with high precision and high reliability.This paper proposes and designs an indoor and outdoor combined localization method based on multiple sensors.The method combines Beidou positioning technology,radio frequency identification and inertial navigation technology.The positioning data is integrated through the hardware control terminal,and the data is processed and applied through the computer software upper end.In this way,a combined positioning that adapts to multiple indoor and outdoor scenes is realized.The system is divided into two parts: positioning hardware terminal and upper computer software terminal.The hardware side mainly realizes the outdoor positioning design of Beidou and inertial navigation combination using the Kalman filter method;and adopts the scene analysis method based on the RF signal strength to realize the indoor positioning design;and according to the characteristics of the RF antenna,different ranging positioning models are used to Improve indoor positioning accuracy;use inertial navigation-assisted positioning to achieve positioning of signal blind spots.The hardware core control unit adopts the TM4C1294 core processor of TI Company,and carries out the program design in the Keil 5 development environment to complete the control of each positioning module.The design of the upper computer software part adopts the Visual Studio development tool of Microsoft.Through the self-designed location information software,it obtains the information transmitted by the hardware terminal and displays the current corresponding latitude and longitude information of the target on the interface,and records the movement of the target through the offline map mode.The self-designed cruise software is used to control the intelligent car to track a fixed route,and to explore the positioning accuracy and stability of the positioning device in the low-speed and medium-speed moving states.The above experimental results show that the system’s positioning response time,positioning accuracy,positioning mode conversion rate and other design elements are in line with the design expectations,and can be used in patrol,monitoring,logistics and other scenarios.