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Indoor direction optimization method based on MEMS

An optimization method and heading angle technology, applied in the directions of measurement devices, instruments, surveying and navigation, etc., can solve problems such as magnetic heading errors, and achieve the effects of improving accuracy and reliability, suppressing drift, and improving reliability.

Active Publication Date: 2020-01-03
北京金坤科创技术有限公司
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Problems solved by technology

However, due to the influence of ferromagnetic materials in buildings indoors, the magnetic heading error is relatively large. Therefore, when inertial navigation technology is used, the final positioning result will deviate greatly from the real position due to the direction error.

Method used

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  • Indoor direction optimization method based on MEMS
  • Indoor direction optimization method based on MEMS
  • Indoor direction optimization method based on MEMS

Examples

Experimental program
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Embodiment example

[0030] The user holds a smartphone (the terminal includes an accelerometer, a magnetometer, and a gyroscope). The sampling frequency of the accelerometer and the magnetometer is 20Hz, and the sampling frequency of the gyroscope is 50Hz. The setting of each threshold: the time interval ΔT=[50s, 80s] for restarting the magnetic heading correction, the time window length Tw=[10s, 15s] for estimating the gyroscope’s offset angular velocity, the maximum The allowable angle error threshold ΔA=[5°, 15°] is used to judge whether it is in the straight-going state within the Tw time window ΔCor=[15°, 20°].

[0031] Basic workflow:

[0032] (1) Read accelerometer, magnetometer, gyroscope data.

[0033] (2) Judging whether the y-axis of the carrier coordinate system is upright according to the output value of the three-axis acceleration.

[0034] (3) If it is erected, the carrier coordinate system will be rotated, otherwise it will not be processed.

[0035] (4) Use the acceleration an...

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Abstract

The invention discloses an indoor direction optimization method based on an MEMS (Micro-Electro-Mechanical System) and belongs to the field of indoor and outdoor positioning technologies. When magnetic field information is utilized to calculate a course in a room, the precision of course information of a terminal cannot be accurately judged due to the influence of ferromagnetic substances in a building. When a course angle is calculated through a gyroscope, the influence of the outside is avoided, but errors can be accumulated over time. A combined course algorithm is designed based on the advantages and disadvantages of the gyroscope and a magnetic course. Through the method, the accumulated errors of the gyroscope can be effectively suppressed, the reliability of information including but not limited to the magnetic course is judged, and accurate course angle information can be obtained. When a y-axis of an MEMS chip is upright, a coordinate system rotation algorithm of a carrier isdesigned; and through the method, the problem that pitch angle fluctuation is large because an arctan function is unstable nearby a 90-degree angle is avoided, and then the precision of the course angle solved in combination with a magnetometer is improved.

Description

technical field [0001] The invention belongs to the technical field of indoor and outdoor positioning Background technique [0002] Inertial devices have become the standard configuration of most smart devices such as mobile phones and tablets, and the use of acceleration and magnetometers to solve heading angles has been widely used. However, due to the influence of ferromagnetic materials in buildings indoors, the magnetic heading error is relatively large. Therefore, when inertial navigation technology is used, the final positioning result will deviate greatly from the real position due to the direction error. [0003] The present invention combines the characteristics that the gyroscope is not affected by the external environment and the accumulation of errors, and the acceleration, the gyroscope, including but not limited to the heading angle provided by the magnetometer are combined to determine the heading, which improves the reliability and accuracy of the indoor hea...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/005G01C21/165
Inventor 卢敏王培重张晓东吴彤肖登坤
Owner 北京金坤科创技术有限公司
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