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Method of judging advancing direction through geomagnetic data

A technology of traveling direction and magnetometer data, which is applied in directions such as navigation, ground navigation, and measurement devices through speed/acceleration measurement, which can solve the problems of easy interference, large heading angle fluctuation, and angle deviation of the magnetometer of mobile devices. Achieve the effect of avoiding false accumulation and divergence of attitude angle, low cost, and avoiding deadlock of universal joints

Inactive Publication Date: 2020-05-12
杭州十域科技有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In an indoor environment, due to the steel structure and many large electronic devices, the magnetometer of the mobile device is extremely susceptible to interference. The traditional attitude fusion algorithm simply integrates the magnetometer data into the attitude, and the calculated heading angle will appear in actual use. Large fluctuations and a certain angle deviation

Method used

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  • Method of judging advancing direction through geomagnetic data
  • Method of judging advancing direction through geomagnetic data
  • Method of judging advancing direction through geomagnetic data

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Experimental program
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Embodiment 1

[0025] A method for judging the direction of travel through geomagnetic data, characterized in that: the method comprises the following steps:

[0026] a. Perform data processing on the sensor, low-pass filter the data of the three-axis accelerometer and three-axis magnetometer, and filter out the high-frequency noise of the low-precision inertial sensor;

[0027] b. Initialize the quaternion of the rotation matrix;

[0028] c. Read the accelerometer data of the mobile device, perform low-pass filtering and normalization processing, and calculate the compensation component of the accelerometer to the gyroscope;

[0029] d. Read the magnetometer data of the mobile device, perform low-pass filtering and normalization processing, and calculate the fluctuation of the magnetometer data within a certain time window;

[0030] e. Calculate the compensation component of the magnetometer to the gyroscope in combination with the fluctuation of the magnetometer data;

[0031] f. Read th...

Embodiment 2

[0035] a. Sensor data processing: Low-pass filtering is performed on the data of the three-axis accelerometer and three-axis magnetometer to filter out the high-frequency noise of the low-precision inertial sensor.

[0036] b. Initialize the quaternion and align it with the initial coordinate system

[0037] c. Collect three-axis accelerometer data and magnetometer data, fuse them into the attitude quaternion for complementary filtering

[0038] d. Collect the three-axis gyroscope data, combine the above fusion results, and solve the quaternion differential equation

[0039] e. Normalized attitude quaternion

[0040] f. Through the relationship between quaternion and attitude transformation matrix, convert quaternion into Euler angle: pitch angle, roll angle and heading angle

[0041] g. Extract the heading angle, which is the forward direction of pedestrians.

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Abstract

The invention discloses a method of judging the advancing direction through geomagnetic data. The method comprises the following steps: a, data processing is conducted on a sensor; b, a quaternion ofa rotation matrix is initialized; c, accelerometer data of the mobile equipment are read; d, magnetometer data of the mobile equipment are read; e, a compensation component of the magnetometer to thegyroscope is calculated in combination with the data fluctuation quantity of the magnetometer; f, gyroscope data of the mobile equipment are read, the quaternion is updated, and the quaternion is converted into Euler angles including a pitch angle, a roll angle and a course angle; g, an attitude Euler angle of the mobile equipment is calculated by utilizing a relationship between the quaternion ofthe rotation matrix and the Euler angle, wherein the course angle is the advancing direction of the mobile equipment; and h, the step c is returned, and attitude data calculation at the next moment is carried out. The method is low in cost, does not need high-precision sensor equipment, judges the data fluctuation of the magnetometer, and prevents the magnetometer from directly polluting the calculation result of the course angle after the magnetometer is disturbed in an indoor complex environment.

Description

technical field [0001] The invention relates to the technical fields of indoor positioning and indoor navigation, and attitude calculation of mobile equipment, and specifically relates to a method for judging a traveling direction through geomagnetic data. Background technique [0002] With the advancement of micro-electromechanical systems (MEMS) technology, magnetic and inertial measurement units (MIMUs) are commonly installed in mobile devices in the field of consumer electronics today. This makes it possible to run indoor navigation systems based on pedestrian dead reckoning (PDR) on mobile devices. Generally speaking, heading estimation is a key and difficult point in the PDR system, which has a great impact on the navigation accuracy of the whole room. [0003] A typical MIMU contains a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The angle of rotation of the mobile device about three axes—pitch, roll, and heading—is usually repres...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/08
CPCG01C21/165G01C21/08
Inventor 徐强韩业强宋亦凡
Owner 杭州十域科技有限公司
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