METHOD AND APPARATUS FOR ESTIMATING 3D POSITION AND ORIENTATION BY MEANS OF SENSOR FUSION

摘要

PURPOSE: A method and an apparatus for estimating 3D position and orientation through sensor fusion is provided to estimate strength-based mobile positioning and orientation, inertia-based mobile positioning and orientation, and fusion positioning and orientation through a fusion method. CONSTITUTION: A system for estimating 3D position and orientation through sensor fusion comprises a mobile device(310), a transmission device(320), a receipt device(330), and estimation devices(350). A strength-based estimating unit receives strength data and estimates strength-based mobile positioning and orientation using a strength attenuation property varying with distance and orientation. An inertia-based estimating unit receives inertia data and estimates inertia-based mobile positioning and orientation. A fusion estimating unit finds the weighted sum of strength-based mobile positioning and inertia-based mobile positioning to estimate fusion-based positioning and finds the weighted sum of strength-based mobile orientation and inertia-based mobile orientation to estimate fusion-based orientation. [Reference numerals] (310) Mobile device; (320) Transmission device; (321) First transmission unit; (322) n transmission unit; (323) Modulation unit; (324) Encoder; (325) Control unit; (330) Receipt device; (331) First receipt unit; (332) Second receipt unit; (334) n receipt unit; (335) Filter; (336) Decoder; (340) Inertia generation unit; (350) Estimation device; (351) Low data estimation unit; (352) Noise estimation unit; (353) Strength compensation unit; (354) Strength based estimation unit; (355) Inertia based estimation unit; (356) Fusion estimation unit; (AA) Strength information; (BB) Inertia information; (CC) Location/direction information