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Praxeology-based position tracking method

A behavioral and human technology, applied in the field of position tracking based on human behavior, can solve the problems of high algorithm complexity, high hardware requirements, large number of samples, etc. Effect

Active Publication Date: 2014-12-10
哈尔滨工业大学高新技术开发总公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the disadvantages of the existing tracking method, such as the large number of samples required when using particle filter calculations, the high complexity of the algorithm, and the high hardware requirements, and propose a position tracking method based on human behavior

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specific Embodiment approach 1

[0021] Specific implementation mode one: the position tracking method based on human behavior in this embodiment, the human behavior is mainly reflected in the characteristics that people do not go backwards when walking, and the position tracking method is realized through the following steps:

[0022] Step 1. Obtain the current original uncorrected positioning result of the mobile terminal by the positioning algorithm according to the positioning interval time T shorter than the sensor acquisition period;

[0023] Step 2, acquiring motion parameters of the motion terminal through the acceleration sensor and the direction sensor;

[0024] Step 3. Judging and distinguishing the motion parameters obtained in step 2 to determine the three correction modes to be performed by the motion terminal:

[0025] When the sum of the squares of the three-axis coordinate parameter values ​​of the mobile terminal obtained by the acceleration sensor is less than 0.04, it is judged that the cu...

specific Embodiment approach 2

[0031] Different from Embodiment 1, in the position tracking method based on human behavior of this embodiment, the specific positioning correction process of the static correction mode described in step 3 is: establish a two-dimensional coordinate system in the test field area, and its coordinate axes are respectively for the X-axis and Y-axis,

[0032] When the mobile terminal is in a static state, whether it is static or not is judged by the acceleration sensor parameters, its current original uncorrected positioning result should be basically consistent with the final positioning result at the previous moment. In order to make up for the possible errors in the final positioning result at the previous moment, the The current original uncorrected positioning result is corrected in the static correction mode with a margin; let the final positioning result at the previous moment be X n-1 , Y n-1 , let the current original uncorrected positioning result be x, y, through formul...

specific Embodiment approach 3

[0034] The difference from the specific embodiment 1 or 2 is that in the position tracking method based on human behavior in this embodiment, the specific correction process of the motion correction mode described in step 3 is: in the two-dimensional coordinate system established in the test field area, its coordinates The axes are X-axis and Y-axis respectively,

[0035] When the mobile terminal is in motion, its current original uncorrected positioning result should be in front of the movement direction of the final positioning result at the previous moment. Based on the average moving speed factor of human behavior, the final positioning result at the previous moment is X n-1 , Y n-1 , let the current original uncorrected positioning result be x, y, when the mobile terminal moves along the X-axis or Y-axis direction, the formula 2 is used:

[0036] X n = ...

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Abstract

The invention relates to a praxeology-based position tracking method and aims to overcome the defect of high hardware requirements caused by the large required sample amount and the high algorithm complexity when particle filter calculation is used in existing tracking methods. The position tracking method comprises steps as follows: obtaining a current original uncorrected positioning result of a motion terminal according to a positioning time interval T smaller than the acquisition cycle of a sensor with a positioning algorithm; obtaining motion parameters of the motion terminal through an acceleration sensor and a direction sensor; judging and distinguishing the obtained motion parameters to determine three correction modes to be performed on the motion terminal; taking a final positioning result stored and recorded last time as the final positioning result of the precious moment, and performing positioning correction of a static correction mode, positioning correction of a moving correction mode or positioning correction of a turning correction mode in combination with the obtained current original uncorrected positioning result of the motion terminal; outputting the corrected final positioning result obtained by the correction modes; storing and recording the output corrected final positioning result. The method is used for motion terminal position tracking.

Description

technical field [0001] The invention relates to a position tracking method based on human behavior. Background technique [0002] Filtering and map matching are commonly used in existing tracking methods. Filtering is to obtain the motion trend by analyzing the motion probability, so as to correct the positioning result, and map matching is to eliminate the points that do not match the positioning result according to the map information. [0003] Particle filter is widely used in filtering, which uses particle set to represent probability, and can be used in any form of state space model. Its core idea is to express its distribution through random state particles drawn from the posterior probability, which is a sequential importance sampling method. The particle filter method refers to the process of approximating the probability density function by finding a group of random samples propagated in the state space, and replacing the integral operation with the sample mean va...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 孟维晓安迪韩帅邹德岳赵万龙
Owner 哈尔滨工业大学高新技术开发总公司
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