Indoor positioning method based on IMU

Abstract

The invention discloses an IMU-based indoor positioning method, and its technical characteristics are: step S1, according to the collected human body motion acceleration data, use a finite state machine to segment the effective gait and complete step counting and step length estimation; step S2 , according to the angular velocity (gyroscope), acceleration (acceleration sensor) and magnetic field strength (magnetic field sensor) data of effective gait, use the complementary filtering model to calculate the motion direction of current gait; Step S3, according to step length, motion direction estimation result and The map information is subjected to particle filtering, and the parameters of the step size model and the complementary filtering model are adjusted according to the properties of effective surviving particles. The invention uses a finite state machine to effectively remove invalid gait information and reduce the amount of data calculation; uses a complementary filter model to effectively fuse various sensor information to provide more accurate direction measurement results; uses a particle filter method to dynamically adjust the gait model and Complementary filtering model parameters, thereby reducing the step size estimation error and direction measurement error; comprehensively, the present invention can effectively suppress the error accumulation phenomenon in the dead reckoning process, and improve the accuracy of indoor positioning.

Description

technical field [0001] The invention relates to the field of indoor positioning, in particular to an IMU-based indoor dead reckoning positioning method. Background technique [0002] Services based on location information have become more and more important, and most applications currently use satellite-based global positioning systems. However, in an indoor environment, satellite signals will be blocked by buildings, resulting in a large number of location blind spots, and the accuracy of current satellite positioning methods cannot meet the requirements of indoor positioning for the time being. Therefore, building a stable and high-precision indoor positioning system has become a research hotspot in recent years. [0003] At present, indoor positioning technology can be mainly divided into two categories: location-based fingerprinting methods and dead reckoning methods. In the indoor positioning technology based on location fingerprints, a large number of hardware modifi...

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Problems solved by technology

[0005] The main purpose of the present invention is to solve the problem of inaccurate step size estimation and direction measurement in the process of dead reckoning, and use the particle filter method to actively correct the step size model and direction deviation, so as to reduce the problem of error accumulation in the process of dead reckoning. problem, improve the overall accuracy of indoor positioning

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