| Inertial navigation has the advantage of full autonomy, short and high precision,and which is can also provide the continuous movement parameters including position,velocity and attitude. But on the other hand, the errors are accumulated with time.Satellite navigation can provide continuous and accurate position and velocityinformation in the all day. But it is difficult to provide attitude information and whichis also easily to be interference. For indoor positioning, which have its advantage thatit can solve the problem of low positioning precision as the satellite signal outages inindoor settings. But indoor positioning is limited by distance and stability.Incombination with the advantages and disadvantages of indoor and outdoor locationtechnology, this paper puts forward a kind of indoor-outdoor seamlessly navigationand positioning system which is based on multi-sensor data fusion method, thissystem are effectively integrated with inertial sensors(including accelerometer,gyroscope and magnetometers), GPS, and ZigBee wireless sensor network(WSN),these sensors are complementing each other and give full play to their respectivetechnical advantages, so as to realize the seamless indoor/outdoor positioning.This paper is putting the seamless indoor/outdoor navigation and positioningsystem into two parts, which are including the IMU/GPS integrated navigation systemand IMU/ZigBee integrated navigation system. First of all, this paper is making adetail introduction for the basic concepts, system structure, working principle andoptimization algorithm of each subsystem in two modules. And then, KALMANfiltering technology is introduced in the application of multi-sensor information fusion.Finally, this paper put forward the overall scheme design of the seamlessindoor/outdoor navigation and positioning system and the concrete implementationmethod.It can be proved by analysing and processing the measured seamless navigationexperiment data that the location deviation is small in the environment ofindoor/outdoor with the auxiliary of ZigBee and good quality of GPS singnal.However, the position of the inertial navigation positioning output maximum drift to16meters without the auxiliary of GPS and ZigBee. The average positioning error inthe whole stage of experiment is less than2meters, which is basically meet the needsof daily navigation and positioning. The seamless indoor/outdoor navigation and positioning system based on IMU/GPS/ZigBee which is proposed in this paper canrealize carrier’s accurate navigation and localization target in the indoor and outdoorenvironment, and it will make an important theoretical and practical significance tocope with various navigation and positioning tasks in complex environments. |
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