INDOOR LOCALIZATION AND NAVIGATION APPARATUS BASED ON BLUETOOTH AND SLAM, AND METHOD THEREFOR

摘要

An indoor localization and navigation apparatus (100), comprising: a Bluetooth module (111), configured to acquire Mesh network information of the indoor localization and navigation apparatus (100), and acquire addresses, attributes, RSSI, IQ data, angles, and arrival times of a plurality of Bluetooth nodes in a Mesh network; a vision module (112), configured to acquire an image around a robot; an odometer module (113), configured to estimate the position of the robot in real time; a data storage and processing module (114), configured to receive data information acquired and calculated by the Bluetooth module (111), the vision module (112), and the odometer module (113); a position integration and estimation module (115), configured to integrate data in the data storage and processing module (114); a map construction module (116), configured to create a three-dimensional environment map according to spatial position information of the Bluetooth nodes and feature points; and a path planning and motion control module (117), configured to drive the robot and perform path planning and navigation according to the created three-dimensional environment map. The localization and navigation apparatus (100) can effectively improve the localization and navigation accuracy.