| TOF based wireless location technology like GPS technology belongs to the non-autonomous navigation,its advantage is that there is no cumulative error,but are susceptible to interference,such as under the environment of strong electromagnetic environment,many obstacles,the reliability is not high.Inertial navigation quick response,good stability,but because of the cumulative error,can't separate for long distance navigation,the inertial navigation is a kind of autonomous navigation.Single navigation methods have some shortcomings,this paper combined with the non-autonomous navigation of autonomous navigation,play to the merit of each navigation method to overcome the shortcomings of single navigation and it can make indoor navigation more accurate and stable necessarily and improve the navigation precision.In this paper,the integrated navigation system of inertial navigation technology and the indoor TOF positioning to carry on the design and implementation,the main work is as follows:1.Aiming at the need of indoor integrated navigation system to collect data and designed a can be used as a carrier of navigation car indoor navigation.The navigation vehicle speed control,forward backward turn left turn right controlled,can through the remote control and PC software to control the car navigation system,and the navigation car has certain load capacity,able to vehicle navigation system as driving devices and computer.The design of the navigation can be as part of the indoor integrated navigation system for indoor integrated navigation system.It has played an important role for data acquisition and validation2.Design indoor TOF positioning and inertial navigation part of the integrated navigation system,TOF positioning module by measuring the distance between the label and base station then using the localization algorithm was carried out on the label positioning.Inertial navigation can be real-time monitoring navigation car running posture,travel information such as position and speed.The indoor integrated navigation system combination TOF positioning and inertial navigation positioning.3.Design indoor the PC system software of integrated navigation system,PC software system able to control navigate the car,TOF positioning module and inertial navigation,and the ability to collect navigation car,TOF positioning module and inertial navigation data information.On indoor integrated navigation system to establish the kalman filter state equation and measurement equation,and the collected data simulation verification,validation integrated navigation is more advantages than the single way of navigation. |
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