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Indoor Pedestrian Localization Method Based on Bayesian Estimation and Map-Assisted Calibration

A Bayesian estimation and indoor positioning technology, applied in navigation calculation tools, navigation through velocity/acceleration measurement, navigation and other directions, it can solve the problems of wrong particle filter output results and the impact of algorithm implementation, and achieve high precision and large applications. effect of value

Active Publication Date: 2019-06-04
SHANGHAI ADVANCED RES INST CHINESE ACADEMY OF SCI
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  • Description
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AI Technical Summary

Problems solved by technology

[0005] However, the above algorithm still has certain application problems and defects.
First of all, the representation method and storage method of the map have a great influence on the realization of the algorithm.
Second, for connected regions like gates, the output of the particle filter may be wrong

Method used

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  • Indoor Pedestrian Localization Method Based on Bayesian Estimation and Map-Assisted Calibration
  • Indoor Pedestrian Localization Method Based on Bayesian Estimation and Map-Assisted Calibration
  • Indoor Pedestrian Localization Method Based on Bayesian Estimation and Map-Assisted Calibration

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Embodiment Construction

[0053] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention.

[0054] It should be noted that the diagrams provided in this embodiment are only schematically illustrating the basic idea of ​​the present invention, and only the components related to the present invention are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual impleme...

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Abstract

The invention provides a walker indoor positioning method based on Bayes estimation and map aided calibration; an inertial measurement unit is fixed on a body of a positioned person; after floors of a building are structurally expressed, a current position of the positioned person is calibrated on a map; the position of the positioned person is real-timely calculated, a room where the current position is located is calculated, and whether a through-wall event happens is determined; if the through-wall event happens, the through-wall event is judged to be caused by position deviation when the person goes out of home or caused by direction shift; and if the through-wall event is judged to be caused by the position deviation when the person goes out of home, the position is corrected to a position nearest a door, otherwise the position is corrected through particle wave filter. The walker indoor positioning method based on Bayes estimation and map aided calibration reduces error accumulation of the position and the direction, so that the indoor positioning accuracy based on an inertial sensor is higher, and the practicability is higher.

Description

technical field [0001] The invention relates to the technical field of indoor positioning and navigation, in particular to an indoor positioning method for pedestrians based on Bayesian estimation and map-assisted calibration. Background technique [0002] Indoor pedestrian positioning technology based on inertial sensors is a self-complete positioning method that does not require pre-installed supporting equipment. Because of this characteristic, the indoor positioning technology of pedestrians based on inertial navigation system has attracted more and more attention, and has a very important application prospect in some specific scenarios, such as emergency rescue, emergency medical treatment, and location determination of shopping malls. and other occasions. However, due to the trouble of accumulating errors, this technology has been unable to meet people's application requirements in terms of positioning accuracy. [0003] After more than ten years of development, peop...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/206
Inventor 杨卫军徐正蓺黄超魏建明
Owner SHANGHAI ADVANCED RES INST CHINESE ACADEMY OF SCI
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