CN106289282A - A kind of indoor map pedestrian's track matching method - Google Patents
A kind of indoor map pedestrian's track matching method Download PDFInfo
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- CN106289282A CN106289282A CN201610566818.9A CN201610566818A CN106289282A CN 106289282 A CN106289282 A CN 106289282A CN 201610566818 A CN201610566818 A CN 201610566818A CN 106289282 A CN106289282 A CN 106289282A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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Abstract
The present invention is a kind of indoor map pedestrian's track matching method, including step S1: gather indoor map information, draws indoor map, draws the path-line of indoor each passage, indicates road sign in indoor map；Step S2: mated with the path-line in map by pedestrian's flight path, road sign mates.The present invention is in map matching process, after the geometric properties point that pedestrian position is matched map, the new initial position being location with new location point, for reducing cumulative error, the sensor in mobile phone is reinitialized at new initial position, this thoroughly to reinitialize the effect for pedestrian's reckoning algorithm very big, not only eliminates the cumulative error on location estimation layer, also eliminates course angle, the cumulative error of step-size estimation layer.Through route matching, in narrow hallways can be avoided, behavior through walls occurs.The present invention plus map match, can improve the precision of indoor positioning on the basis of pedestrian's reckoning.
Description
Technical field
The invention belongs to digital map navigation technical field, relate to a kind of indoor map pedestrian's track matching method.
Background technology
Currently, scientific research personnel has been proposed for a variety of indoor map matching process.
Such as: terminal obtains location point corresponding to user current location, this location point whether thing in this building is determined
On the road line segment first planned；If on road line segment, directly this location point is mapped on the map of terminal；If do not existed
On road line segment, obtain from the nearest road line segment of this location point；Obtain this location point and arrive hanging down of this nearest road line segment
Point, is mapped to this point that hangs down on the map of terminal.
Existing map-matching method, carries out location matches based on real time position.
Summary of the invention
Need the indoor map of design complexity for existing map-matching method, and matching process is complicated, the present invention's
Purpose is to provide on the basis of pedestrian's reckoning, carries out in real time according to sensor signal of output during advancing
Detection, the characteristic quantity of detection is simple, and the matching process of path-line is simple, and a kind of indoor map pedestrian's flight path that practicality is high
Method of completing the square.
In order to reach described purpose, the present invention provides a kind of indoor map pedestrian's track matching method, including step:
Step S1: gather indoor map information, draws indoor map, draws the path-line of indoor each passage, on indoor ground
Chart display road sign；
Step S2: mated with the path-line in map by pedestrian's flight path, road sign mates.
Beneficial effects of the present invention:
The present invention is in indoor map matching process, after pedestrian position matches the road sign of map, with new position
Put the new initial position a little for location, for reducing cumulative error, reinitialize the sensing in mobile phone at new initial position
Device, this thoroughly to reinitialize the effect for pedestrian's reckoning (PDR-SH) algorithm very big, not only eliminates position
Estimate the cumulative error on layer, also eliminate course angle, the cumulative error of step-size estimation layer.Through route matching, can avoid narrow
Behavior through walls occurs in narrow corridor.The present invention plus map match, can improve indoor on the basis of pedestrian's reckoning
The precision of location.
Accompanying drawing explanation
Fig. 1 is one indoor map pedestrian's track matching method flow diagram of the present invention；
Fig. 2 is the flow chart of road sign described in identification of the present invention；
Fig. 3 is the flow chart of pedestrian's reckoning of the present invention；
Fig. 4 is pedestrian's flight path of the present invention and described indoor route matching flow chart.
Detailed description of the invention
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to specifically
In embodiment or description of the prior art, the required accompanying drawing used is briefly described.In all of the figs, similar element
Or part is typically by the reference mark being similar to.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Referring to Fig. 1 and illustrate that the present invention provides a kind of indoor map pedestrian's track matching method, described method includes step:
Step S1: gather map information gathering, draws indoor map, draws the path-line of narrow hallways, at map subscript
Bright geometric properties point；
Step S2: mated with the path-line in map by pedestrian's flight path, road sign mates.
Wherein, described road sign be the geometric properties point in indoor map, WLAN (Wireless Fidelity),
Earth magnetism.
Wherein, angular velocity, acceleration that sensor detects that pedestrian advances are utilized.
Wherein, the angular velocity advanced according to pedestrian and acceleration extract landmark identification characteristic quantity, described landmark identification feature
Amount is the angle after acceleration peak value, angular velocity, angular velocity/acceleration peak value, angular velocity integration, angle after angular velocity integration
Degree/acceleration peak value.
Turn and detect or claim landmark identification, by angular velocity/acceleration peak value that sensor detects etc. information, it is judged that
Whether detection limit reaches to set threshold value, if reaching, carries out route matching；
At right-angle turning, acceleration and the angular velocity signal of corresponding sensor output have sudden change, and this is corner
Motion feature.
The computing formula of acquisition landmark identification characteristic quantity preferred version 1:
Landmark identification characteristic quantity=angular velocity/acceleration peak value,
Obtain landmark identification characteristic quantity and can select the computing formula of any one following preferred version 2:
Landmark identification characteristic quantity=angular velocity,
Landmark identification characteristic quantity=acceleration peak value,
Angle after landmark identification characteristic quantity=angular velocity integration,
Angle/acceleration peak value after landmark identification characteristic quantity=angular velocity integration.
Referring to Fig. 2 is the flow chart of road sign described in identification of the present invention, wherein,
Described in identification step S2, the step of road sign includes:
Step S211: landmark identification characteristic quantity is set a threshold value；
Step S212: people's traveling process of being expert at, has sudden change by sensor detection landmark identification characteristic quantity and exceedes threshold
Value, then the landmark identification characteristic quantity identifying sudden change is the road sign of a right-angle turning point.
Wherein, identify that the step of described road sign includes: calculate pedestrian position according to the trajectory of pedestrian's reckoning, if
Pedestrian's generation of turning round in the passage end, then be directly corrected to pedestrian position to turn round at, then identify the road sign turned round a little.
Wherein, carry out mating the step to described landmark identification according to path-line to include: turn round Point matching by pedestrian's flight path
To path-line, according to the match point turned round a little on path-line pedestrian position on path-line, pedestrian position is corrected to road
The corner that radial line is nearest, then identify and have the road sign turned round a little.
Refer to Fig. 3 and the flow chart of pedestrian's reckoning of the present invention be shown, wherein:
Described pedestrian's reckoning includes step:
Step S221: in indoor passage, the pedestrian position produced according to pedestrian's reckoning in pedestrian's traveling process
Point is to the distance of path-line；
Step S222: if described distance has exceeded the path width set, then pedestrian position is corrected on path-line,
If described distance is not above the path width set, performs the pedestrian's reckoning of step S221 and continue.
Refer to Fig. 4 and pedestrian's flight path of the present invention and described indoor route matching flow chart be shown, wherein:
Described pedestrian's flight path mates step and includes step with the road sign in map:
Step S231: after pedestrian position matches the geometric properties point of map is new with new location point for position
Initial position；
Step S232: new initial position is reinitialized the sensor in mobile phone.
Map match detailed process of the present invention is as follows:
One), cartographic information collection, draw indoor map, draw the path-line of narrow hallways, map is indicated geometry is special
Levy a little.
Two), map matching process
1), landmark identification:
Following formula is the computing formula of landmark identification characteristic quantity:
Landmark identification characteristic quantity=angular velocity/acceleration peak value
Other replacement schemes of the present invention be landmark identification characteristic quantity can select angle after angular velocity, angular velocity integration,
Angle/acceleration peak value after acceleration peak value, angular velocity integration four amount.
Present invention innovation identifies for road sign (turning round a little), and whether angular velocity/acceleration peak value reaches threshold value.
Landmark identification characteristic quantity is set a threshold value, during advancing, landmark identification characteristic quantity is detected, super
Cross threshold value, then it is assumed that there occurs a right-angle turning.Described threshold value sets and includes: the threshold value of angular velocity can be set in 0.6-1.3
Between, the threshold value of acceleration peak value is set between 0.9-1.2, angular velocity/acceleration peak value threshold value be set in 0.8-1.1 it
Between, the angle after rate integrating is to be detected by its knots modification, and the threshold value of knots modification is set as between 0.2-0.8, angular velocity
Angle/acceleration peak value after integration is detected by the knots modification of this landmark identification characteristic quantity, and knots modification threshold value is set in 1-
1.3。
Trajectory DR position according to pedestrian's reckoning, if generation of turning round is at aisle ends, then can be by pedestrian
Position is otherwise mated according to path-line at being directly corrected to turn round, and the Point matching that will turn round is to path-line, according to turning round a little
The match point on path-line position on path-line, is corrected to the corner (geometric properties that path-line is nearest by position
Point).
The present invention is after the geometric properties point that pedestrian position matches map, new with new location point for position
Initial position, for reducing cumulative error, reinitializes the sensor in mobile phone at new initial position, this most again at the beginning of
Beginningization is very big for the effect of pedestrian's reckoning (PDR-SH) algorithm, not only eliminates the accumulation on location estimation layer by mistake
Difference, also eliminates course angle, the cumulative error of step-size estimation layer.
2), route matching
In narrow hallways, sentence to the distance of path-line according to the location point of pedestrian's reckoning generation in traveling process
Disconnected the most through walls, if distance has exceeded the path width set, then position is corrected on path-line, otherwise, pedestrian's flight path
Calculate and continue, do not process.
, through route matching, there is behavior through walls in can avoiding narrow hallways in the present invention.In a word, in pedestrian's reckoning
Plus map match on basis, the precision of indoor positioning can be improved.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.
Claims (9)
1. indoor map pedestrian's track matching method, it is characterised in that include step:
Step S1: gather indoor map information, draws indoor map, draws the path-line of indoor each passage, in indoor map
Indicate road sign；
Step S2: mated with the path-line in map by pedestrian's flight path, road sign mates.
Indoor map pedestrian's track matching method the most according to claim 1, it is characterised in that described road sign is indoor ground
Geometric properties point in figure, WLAN, earth magnetism.
Indoor map pedestrian's track matching method the most according to claim 1, it is characterised in that utilize sensor to detect
The angular velocity of pedestrian's traveling and acceleration.
Indoor map pedestrian's track matching method the most according to claim 3, it is characterised in that the angle advanced according to pedestrian
Speed and acceleration extract landmark identification characteristic quantity, described landmark identification characteristic quantity be acceleration peak value, angular velocity, angular velocity/
Angle after acceleration peak value, angular velocity integration, the angle/acceleration peak value after angular velocity integration.
Indoor map pedestrian's track matching method the most according to claim 4, it is characterised in that identify the step of described road sign
Suddenly include:
Step S211: landmark identification characteristic quantity is set a threshold value；
Step S212: people's traveling process of being expert at, has sudden change by sensor detection landmark identification characteristic quantity and exceedes threshold value, then
The landmark identification characteristic quantity identifying sudden change is the road sign of a right-angle turning point.
Indoor map pedestrian's track matching method the most according to claim 4, it is characterised in that identify the step of described road sign
Suddenly including: calculate pedestrian position according to the trajectory of pedestrian's reckoning, if pedestrian turns round, generation is in the passage end, then will row
The road sign turned round a little is then identified, at being directly corrected to turn round, in people position.
An indoor map pedestrian's track matching method the most according to claim 4, it is characterised in that carry out according to path-line
The step of described landmark identification of matching includes: the Point matching that turned round by pedestrian's flight path is to path-line, according to turning round a little on path-line
Match point and pedestrian position on path-line, pedestrian position is corrected to the corner that path-line is nearest, then identifies
There is the road sign turned round a little.
8. according to the indoor map pedestrian's track matching method described in any one of claim 6-7, it is characterised in that described pedestrian
Reckoning includes step:
Step S221: in indoor passage, arrives according to the pedestrian position point that pedestrian's reckoning in pedestrian's traveling process produces
The distance of path-line；
Step S222: if described distance is to have exceeded the path width set, then pedestrian position is corrected on path-line, as
The most described distance is not above the path width set, and performs step S221 and continues pedestrian's reckoning.
Indoor map pedestrian's track matching method the most according to claim 1, it is characterised in that described pedestrian's flight path and ground
Road sign coupling step in figure includes step:
Step S231: by the road sign of the location matches in pedestrian's flight path to map, is the new initial of location with new location point
Position；
Step S232: new initial position is reinitialized the sensor in mobile phone.
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| CN107144863A (en) * | 2017-04-28 | 2017-09-08 | 上海美迪索科电子科技有限公司 | A kind of GPS/BD positioning track optimization methods based on cartographic information |
| CN109099909A (en) * | 2018-06-27 | 2018-12-28 | 电子科技大学 | A kind of indoor orientation method based on pedestrian's inertial navigation path reduction and multipath relevant matches |
| CN109459030A (en) * | 2018-11-27 | 2019-03-12 | 北京方位捷讯科技有限公司 | A kind of pedestrian's positioning correction method and system based on terrestrial reference |
| CN109708647A (en) * | 2019-03-08 | 2019-05-03 | 哈尔滨工程大学 | A kind of indoor topological map pedestrian localization method based on fusion feature element |
| CN110287803A (en) * | 2019-05-29 | 2019-09-27 | 广州小鹏汽车科技有限公司 | A kind of recognition methods and system of track road sign |
| CN110631578A (en) * | 2019-09-29 | 2019-12-31 | 电子科技大学 | Indoor pedestrian positioning and tracking method under map-free condition |
| CN110631591A (en) * | 2019-10-23 | 2019-12-31 | 北京航空航天大学 | Pedestrian indoor navigation method based on assistance of indoor map and virtual road sign |
| WO2022183936A1 (en) * | 2021-03-04 | 2022-09-09 | 华为技术有限公司 | Smart home device selection method and terminal |
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| CN109099909B (en) * | 2018-06-27 | 2021-09-24 | 电子科技大学 | Indoor positioning method based on pedestrian inertial navigation path restoration and multi-path correlation matching |
| CN109459030A (en) * | 2018-11-27 | 2019-03-12 | 北京方位捷讯科技有限公司 | A kind of pedestrian's positioning correction method and system based on terrestrial reference |
| CN109708647A (en) * | 2019-03-08 | 2019-05-03 | 哈尔滨工程大学 | A kind of indoor topological map pedestrian localization method based on fusion feature element |
| CN110287803A (en) * | 2019-05-29 | 2019-09-27 | 广州小鹏汽车科技有限公司 | A kind of recognition methods and system of track road sign |
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| CN110631578A (en) * | 2019-09-29 | 2019-12-31 | 电子科技大学 | Indoor pedestrian positioning and tracking method under map-free condition |
| CN110631578B (en) * | 2019-09-29 | 2021-06-08 | 电子科技大学 | Indoor pedestrian positioning and tracking method under map-free condition |
| CN110631591A (en) * | 2019-10-23 | 2019-12-31 | 北京航空航天大学 | Pedestrian indoor navigation method based on assistance of indoor map and virtual road sign |
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