The invention relates to an indoor parking lot positioning method based on Bluetooth AOD and inertial navigation, and belongs to the field of intelligent networked automobiles, and the method comprises the steps: S1, constructing an improved 2D-MUSIC Bluetooth signal departure angle estimation algorithm, dividing an array antenna twice on the basis of decoherence of a one-dimensional space smoothing technology, correcting a covariance matrix of an antenna signal, and carrying out the positioning of an indoor parking lot; carrying out two-dimensional spatial spectrum search; s2, constructing a Bluetooth RSSI position fingerprint positioning algorithm based on compressed sensing, and performing position fingerprint noise reduction, orthogonalization preprocessing and vector recovery and reconstruction; s3, a Bluetooth AOD + RSSI weighted fusion positioning algorithm based on an Alpha-count algorithm is constructed, and the positioning precision and the positioning stability are improved in a low-precision range; and S4, constructing an indoor navigation positioning enhancement algorithm based on BLE-AOD + IMU fusion, establishing a state equation and an observation equation, selecting a filtering estimation method, and carrying out state parameter estimation.
本发明涉及一种基于蓝牙AOD和惯导的室内停车场定位方法,属于智能网联汽车领域,包括S1:构建基于改进的2D‑MUSIC蓝牙信号出发角估计算法,在一维空间平滑技术去相干基础上,对阵列天线进行两次划分,修正天线信号的协方差矩阵,然后进行二维空间谱搜索;S2:构建基于压缩感知的蓝牙RSSI位置指纹定位算法,进行位置指纹降噪、正交化预处理和恢复重构向量;S3:构建基于Alpha‑count算法的蓝牙AOD+RSSI加权融合定位算法,实现在低精度范围内提高定位精度和定位稳定性;S4:构建基于BLE‑AOD+IMU融合的室内导航定位增强算法,建立状态方程和观测方程,选择滤波估计方法,进行状态参数估计。
Indoor parking lot positioning method based on Bluetooth AOD and inertial navigation
基于蓝牙AOD和惯导的室内停车场定位方法
2023-08-22
Patent
Elektronische Ressource
Chinesisch
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