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Pedestrian indoor track positioning method

A technology for trajectory positioning and pedestrians, which can be used in navigation, measuring devices, instruments, etc. through speed/acceleration measurement.

Active Publication Date: 2018-08-24
NANJING HOWSO TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The common disadvantages of the above indoor positioning technologies are high cost or low accuracy.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0014] A pedestrian indoor trajectory positioning method, such as figure 1 shown, including the following steps,

[0015] Using sensors to collect triaxial acceleration, triaxial angular velocity and triaxial magnetic induction in the carrier coordinate system as data sources, the triaxial are X axis, Y axis and Z axis;

[0016] Step counting and gait detection;

[0017] Calculate the heading angle, and correct the heading angle based on the main direction: when walking in a straight line, use the heuristic random drift elimination method to correct the heading angle; when walking in a curve, use the extended Kalman filter to perform offset compensation and correct the heading angle;

[0018] According to the three-axis acceleration, a nonlinear step size estimation model is established to calculate the step size during the travel process;

[0019] According to the gait, walking steps, heading angle and step length, the walking trajectory and position of pedestrians are calc...

Embodiment 2

[0024] On the basis of embodiment 1, step counting and gait detection adopt the following mode in the present embodiment:

[0025] S11, collecting data in three directions of the X-axis, Y-axis, and Z-axis of the built-in accelerometer, gyroscope, and magnetometer of the sensor and saving them;

[0026] S12. Calculate the overall acceleration, calculate the overall acceleration through the three-axis acceleration of the accelerometer, avoid factors such as irregular acceleration and large errors in the vertical direction of the human body caused by the difference between the carrier coordinate system and the geographic coordinate system, and reduce the impact caused by the equipment attitude influence, calculated as

[0027]

[0028] where a x 、a y 、a z It is the real-time acquisition value of the accelerometer in three directions x, y, z;

[0029] S13. Carry out mean filtering to the overall acceleration; set a sliding window, divide the data in each window into a grou...

Embodiment 3

[0041] On the basis of Embodiment 1, the process of performing the heading angle correction based on the main direction in this embodiment is:

[0042] S21. The acceleration a of the three directions in the carrier coordinate system b b (a x , a y , a z ), through the quaternion coordinate transformation matrix Transform to navigation coordinate system n system a n (a 东 ,a 北 ,a 天 );

[0043] S22. The direction of each walk is determined by the attitude angle. The attitude angle includes the heading angle ψ, the pitch angle θ, and the roll angle γ. It is obtained by the equation group composed of formulas (2) to (4):

[0044]

[0045]

[0046]

[0047] in, is the quaternion coordinate transformation matrix;

[0048] Quaternion coordinate transformation matrix According to the angular velocity output by the gyroscope, it is calculated using the following quaternion differential equation;

[0049]

[0050] Among them, Q(q 0 ,q 1 ,q 2 ,q 3 ) is a qua...

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Abstract

The invention discloses a pedestrian indoor track positioning method. The pedestrian indoor track positioning method comprises the following steps of enabling a sensor to collect three-axis acceleration, three-axis angular speed and three-axis magnetic sensing intensity under a carrier coordinate system, and using same as data sources, wherein the three axes comprise an X axis, a Y axis and an Z axis; counting the steps, and detecting the gait; calculating the heading angle, and correcting the heading angle on the basis of main direction; when walking along a straight line, using a heuristic random drift eliminating method to correct the heading angle; when walking along a curved line, using an extended Kalman filter to compensate the offset, and correct the heading angle; according to thethree-axis acceleration, establishing a non-linear step length estimation model, and calculating the step length in the walking process; according to the step state, the number of walking steps, theheading angle and the step length, calculating the walking track and position of a pedestrian. The pedestrian indoor track positioning method has the advantages that the error in detection of step length is effectively reduced, the indoor positioning precision is improved, the problem of divergence of heading angle due to gyroscope drift is solved, and the estimation precision of a user is improved when the step length is diversified.

Description

technical field [0001] The invention belongs to the technical field of indoor positioning, and in particular relates to a pedestrian indoor track positioning method. Background technique [0002] With the development of GPS global positioning system and the popularization of smart portable terminals (smart phones, tablet PCs, smart hardware, etc.), indoor location-related services (LBS) have attracted more and more attention. However, in an indoor environment, due to the occlusion of buildings and other structures, the GPS signal is very weak, and the positioning accuracy cannot meet people's requirements. Therefore, the demand for indoor positioning technology is very urgent. [0003] Existing indoor positioning technologies are mainly divided into the following categories: short-distance wireless communication positioning, Wifi signal-based wireless positioning methods, and inertial sensor-based positioning algorithms. The common disadvantages of the above indoor positio...

Claims

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Application Information

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IPC IPC(8): G01C21/18G01C21/20
CPCG01C21/18G01C21/206
Inventor 徐慧邓浩杨兴郑良章王计斌
Owner NANJING HOWSO TECH
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