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Geomagnetic indoor positioning method based on gated recurrent neural network and particle filtering

A technology of cyclic neural network and particle filter, which is applied in ground navigation, measuring devices, instruments, etc., can solve the problems of low geomagnetic resolution, poor geomagnetic matching and positioning, etc., achieve good real-time positioning accuracy, good positioning accuracy, and reduce real-time The effect of calculation volume

Active Publication Date: 2021-06-22
HANGZHOU DIANZI UNIV
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Problems solved by technology

However, geomagnetism has the defect of low resolution, and geomagnetic signals will appear similar in different positions in the indoor environment, so the effect of geomagnetic matching and positioning is often not good

Method used

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  • Geomagnetic indoor positioning method based on gated recurrent neural network and particle filtering
  • Geomagnetic indoor positioning method based on gated recurrent neural network and particle filtering
  • Geomagnetic indoor positioning method based on gated recurrent neural network and particle filtering

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Embodiment Construction

[0025] The present invention will be described in detail below in combination with specific embodiments.

[0026] The invention mainly utilizes the gated cyclic neural network to extract the features of the geomagnetic track signal, and proposes a real-time geomagnetic positioning method combined with particle filtering on the basis of the gated cyclic neural network matching and positioning. Roughly framed as figure 1 shown. Specifically follow the steps below to implement.

[0027] Step 1. Construction of indoor geomagnetic map database:

[0028] The geomagnetic signal collected by the geomagnetic sensor is composed of three-dimensional vector x ,M y ,M Z > Indicates that the three vector values ​​represent the geomagnetic signals measured on the three direction axes of the sensor respectively. In addition, the geomagnetic intensity signal is represented by the second-order norm of the three vector values. The geomagnetic intensity signal M is as follows:

[0029] ...

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Abstract

The invention discloses a geomagnetic indoor positioning method based on a gated recurrent neural network and particle filtering. According to the method of the invention, the gated recurrent neural network is trained through a built geomagnetic indoor database to perform matching and positioning of geomagnetic track signals;the trained gated recurrent neural network is used for matching and positioning, so that better positioning precision can be brought to matching and positioning of the geomagnetic track signals. Compared with a common geomagnetic track signal matching algorithm based on dynamic time planning, the trained model reduces the real-time calculation amount in the matching and positioning process. According to the method of the invention, a system for performing real-time positioning is designed while a particle filtering algorithm is adopted on the basis of performing matching and positioning on the geomagnetic track signals by the neural network model. According to the system, the advantage of extracting geomagnetic track signal features by the gated recurrent neural network is effectively utilized, and better real-time positioning precision is brought to the particle filtering algorithm.

Description

technical field [0001] The invention belongs to the field of indoor positioning, and in particular relates to a method for geomagnetic matching positioning based on a gated cyclic neural network, and a method for real-time positioning combined with particle filtering. Background technique [0002] Indoor positioning technology has broad application value in daily life, such as positioning in shopping malls, navigation in parking lots, etc. As a common indoor signal, geomagnetism has no infrastructure and has the characteristics of unique signal strength in different locations. However, geomagnetism has the defect of low resolution, and geomagnetic signals will appear similar in different positions in the indoor environment, so the effect of geomagnetic matching and positioning is often not good. The commonly used geomagnetic matching positioning algorithm mainly collects continuous geomagnetic trajectory signals and dynamic time planning algorithm to perform matching positi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01C21/20
CPCG01C21/08G01C21/206
Inventor 颜成钢巩鹏博郑锦凯孙垚棋张继勇张勇东
Owner HANGZHOU DIANZI UNIV
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