Multi-source positioning data fusion method based on H infinity filter

The invention discloses a multi-source positioning data fusion method based on an H infinite filter, and the method comprises the following steps: S1, constructing three groups of positioning subsystems, i.e., a GPS-IMU positioning subsystem, a UWB-IMU positioning subsystem and a vision-IMU position...

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Bibliographische Detailangaben
Hauptverfasser:	RU CHUANHONG, GAO ZHAN, CHEN YIPING, LU DI, GUO JIANFENG, WANG LIUJUN, ZHANG MINGMING, CHAI LIANXING, WU ZHEN, CHEN YU, LI YAN, LIANG LIANG, LI QIAN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CALCULATING COMPUTING COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING
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Beschreibung
Zusammenfassung:	The invention discloses a multi-source positioning data fusion method based on an H infinite filter, and the method comprises the following steps: S1, constructing three groups of positioning subsystems, i.e., a GPS-IMU positioning subsystem, a UWB-IMU positioning subsystem and a vision-IMU positioning subsystem, obtaining IMU data, GPS data, UWB data and image data, and carrying out the processing of the IMU data, the GPS data, the UWB data and the image data, and obtaining the coordinates of a corresponding regional positioning reference coordinate system; s2, respectively constructing H infinity filters in the three groups of positioning subsystems, and obtaining positioning estimation data and variances of the three groups of positioning subsystems; and S3, carrying out variable weight linear combination according to the positioning estimation data and variance of the three groups of positioning subsystems at the same moment, and respectively solving corresponding weight values. According to the method, t