公开(公告)号：US11255677B2

公开(公告)日：2022-02-22

申请号：US16578442

申请日：2019-09-23

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Wei Wang ,  Shengkai Zhang ,  Tao Jiang

IPC: G01C21/16 ,  G01S13/58 ,  G01S7/40

Abstract: The present disclosure discloses an intelligent device navigation method and navigation system. The method comprises the following. Construct a plurality of antennas on a network card in the intelligent device into a linear antenna array. By using the linear antenna array, acquire channel state information of a wireless signal, and estimate an angle of arrival (AoA) and a time of flight (ToF) between the wireless signal transmitting device and the intelligent device. Measure inertial parameters of the intelligent device. Perform data fusion of the AoAs, the ToFs and the inertial parameters to estimate a state variable of the intelligent device. Adjust a motion state of the intelligent device with reference to the state variable, thereby achieving autonomous navigation of the intelligent device. The disclosure can estimate the state of the intelligent device by using wireless signals ubiquitous in the surrounding environment in a GPS unreliable environment.