CN107036597A - A kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone - Google Patents
A kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone Download PDFInfo
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- CN107036597A CN107036597A CN201710300245.XA CN201710300245A CN107036597A CN 107036597 A CN107036597 A CN 107036597A CN 201710300245 A CN201710300245 A CN 201710300245A CN 107036597 A CN107036597 A CN 107036597A
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention discloses a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone, comprise the following steps：Step 1: the accurate GPS location signal that record is received, the initial position of positioning is used as using accurate GPS location signal；Step 2: the distance advanced after gps signal weakens and even disappeared using the real-time recorder of the sensor of mobile phone and direction, displacement of the people in horizontal plane is calculated with this；Step 3: according to the result of calculation at this moment in step 2 and the positional information of last moment, obtaining current location information, the positional information further according to every 2s depicts track route.The present invention is for other indoor navigation schemes, it is only necessary to a smart mobile phone, without relying on external equipment, high with precision, and cost is low, the advantage that is easily achieved.
Description
Technical field
The present invention relates to mobile phone indoor navigation field, and in particular to a kind of room based on inertial sensor built in smart mobile phone
Interior positioning navigation method.
Background technology
With expanding economy, the place scale such as exhibition, market, parking lot, scenic spot, museum is increasing, and tens
Ten thousand even millions of square kilometres of places can be found everywhere.Found sometimes in such large-scale place some specific trade company or
Person position is just more difficult, and be then born indoor navigation.Indoor navigation, which allows, places oneself in the midst of disappearing in the places such as large department store
Fei Zhe, in building, remains to determine the position of oneself using accurate positioning function and finds the place thought, can be with
The specified place of some heavy constructions, such as parking stall, ATM and specified businessman etc. are easily found using indoor navigation.
Current existing location technology has following several：
1st, Wi-Fi location technologies, the WLAN (WLAN) being made up of WAP (including wireless router),
Positioning, monitoring and the tracking task in complex environment can be realized.It using the positional information of network node (WAP) as
Basis and premise, by the way of experience test and signal propagation model are combined, position is carried out to the mobile device accessed
Positioning, highest accuracy is about between 1 meter to 20 meters.If positioning measuring and calculating is based only upon the Wi-Fi access points currently connected, and
Rather than referring to periphery Wi-Fi signal intensity composite diagram, then Wi-Fi positioning is just easy to exist error (for example：Position floor wrong
By mistake).In addition, Wi-Fi access points generally all can only 90 meters or so of covering radius region, and be highly susceptible to other signals
Interference, so as to influence its precision, the energy consumption of locator is also higher.
2nd, bluetooth location technology, bluetooth communication is a kind of Radio Transmission Technology of short distance low-power consumption, installs suitable indoors
When bluetooth local area network access point after, by network configuration into the basic network connection mode based on multi-user, and ensure bluetooth office
Domain net access point is the main equipment of this micronetwork all the time.So by detecting that signal intensity is obtained with the position letter of user
Breath.Bluetooth positioning is mainly used in small range positioning, for example：Individual layer hall or warehouse.Bluetooth function shifting is integrated with for holding
Dynamic terminal device, as long as the Bluetooth function of equipment is opened, bluetooth indoor locating system just can carry out position judgment to it.No
Cross, for complicated space environment, the stability of bluetooth alignment system is slightly worse, disturbed big by noise signal.
3rd, infrared confirming orientation technology, infrared ray is the electromagnetic wave between radio wave and visible light wave between a kind of wavelength.
Typical infrared ray indoor locating system Active badges make object under test enclose an electronic mark, and the mark passes through red
Outer emitter sends the unique ID of the determinand to the infrared receiving set cycle of indoor fixed placement, and receiver passes through cable network again
Database is transferred data to, with of a relatively high indoor position accuracy.But, because light cannot pass through barrier, make
Obtain infrared-ray and be only capable of line-of-sight propagation, easily disturbed by other light, and ultrared transmission range is shorter, makes its interior fixed
The poor effect of position.
4th, ultra wideband location techniques, super-broadband tech is an emerging in recent years wireless technology, at present, including the U.S.,
This technology is all being studied by country including Japan, Canada etc., has good prospect in wireless indoor positioning field.UWB
Technology is that a kind of transmission rate is high (reaching as high as more than 1000Mbps), and transmission power is relatively low, and penetration capacity is relatively strong and is base
In the wireless technology of ultra-narrow pulse, carrierfree, exactly these advantages, make it indoors positioning field obtained more accurate knot
Really.But UWB is difficult to a wide range of in-door covering, and mobile phone does not support UWB, and positioning cost is very high.
In order to solve these problems and indoor navigation is preferably widely used in life, the present invention is by smart mobile phone
Putting inertial sensor is used to navigating and positioning aspect, it is proposed that a kind of indoor positioning based on inertial sensor built in smart mobile phone
Air navigation aid, this is a kind of innovation to gps signal location algorithm when extremely weak, and easy to carry, precision is higher and cost and power consumption
It is low, with very strong realistic meaning and application prospect.
The content of the invention
The purpose of the present invention is to be based on inertia built in smart mobile phone there is provided one kind for above-mentioned the deficiencies in the prior art to pass
The indoor positioning air navigation aid of sensor, this method can carry out route description in gps signal extremely faint indoor environment, lead to
Cross real-time step-length, cadence to calculate and bearing data, integration draws the track route of people indoors, so as to reach the mesh of indoor navigation
's.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone, methods described includes following step
Suddenly：
Step 1: the accurate GPS location signal that record is received, first using accurate GPS location signal as positioning
Beginning position；
Step 2: after gps signal weakens and even disappeared, the road advanced using the real-time recorder of the sensor of mobile phone
Journey and direction, displacement of the people in horizontal plane is calculated with this；
Step 3: according to the result of calculation at this moment in step 2 and the positional information of last moment, obtaining current location
Information, the positional information further according to every 2s depicts track route.
Further, in step 2, the distance that the people advances is to pass through the change to acceleration using step probe algorithm
Change situation analyzed judge people walking situation and draw, specifically include two parts：
The calculating of Part I, step number, is concretely comprised the following steps：
1st, the resultant acceleration of the 3-axis acceleration vector of each sampled point is calculated, formula is as follows：
Wherein, aiThe resultant acceleration of ith sample point is represented,Represent ith sample point respectively in mobile phone
The acceleration of the x, y, z axle of coordinate system；
2nd, the resultant acceleration local variance of each sampled point is calculated, formula is as follows：
Wherein,The resultant acceleration local variance of ith sample point is represented, ω represents the size of average window,Represent average local acceleration, ajRepresent the resultant acceleration of j-th of sampled point；
3rd, to resultant acceleration local varianceMoving average filter is carried out, i.e., often has a sampled point, just closes it and accelerates
The numerical value of degree local variance and the first two sampled point is done sums averagely, the resultant acceleration local variance after judging smoothlyWhether
More than the threshold value of setting, ifMore than the threshold value of setting, decision condition C=1 is made, otherwise, decision condition C=0, formula is made
It is as follows：
4th, according to decision condition C situation, judge whether pedestrian has walked a step, if the decision condition of ith sample point
Ci=1, and the decision condition C of i+1 sampled pointi+1=1, continuously occur in decision condition 1 number of times plus 1；If
The decision condition C of ith sample pointi=0, and the decision condition C of i+1 sampled pointi+1=0, will be continuous in decision condition
0 number of times occurred adds 1；If Ci≠Cj, and the number of times for continuously occurring 1 and continuously occurring 0 is all higher than the number of times threshold set
Value, then detect pedestrian's row and make a move, and adds 1 by step number numerical value and resets the continuous number of times for occurring 1 and continuously occurring 0, from step
Rapid 1 continues cycling through；
The calculating of Part II, step-length, it is real-time by following estimation after height, body weight and the cadence of user is obtained
The model of step-length carrys out material calculation X：
X=0.004292*h+0.000641*w+0.000334*f+0.000181
Wherein, h is the height of user, and unit is cm, and w is the body weight of user, and unit is Kg, and f is the cadence of user, unit
For step/second, the method that collection acceleration information calculates step number according to Part I at regular intervals calculates cadence, substitutes into mould
The real-time step-length of user is obtained after type, and integrates the distance for obtaining people's traveling.
Further, in step 2, the 3-axis acceleration vector of the sampled point is by adding for being carried in smart mobile phone
Velocity sensor collection.
Further, in step 2, the direction that the people advances uses the method that gyroscope and electronic compass are used alternatingly
To calculate, when judging that the current direction of motion is in change state, gyroscope is integrated to obtained motion course as current
The course angle of reckoning；When judging that the current direction of motion is in stable or small change state, then by electronic compass
Course is moved as the course angle of current reckoning.
Further, in step 2, integrate to judge by the short time of gyroscope when the direction of motion changes,
And certain threshold value is set, if current short time integration is more than the threshold value, judge that the direction of motion is in variable condition, if currently
Short time integration is less than the threshold value, then judges that the direction of motion is in stable or small change state.
Further, in step 2, the calculating for obtaining moving course is integrated for gyroscope, because gyroscope integration can only
The change angle value in motion course is sought, but in reckoning algorithm, it is desirable that the absolute course angle of motion, i.e., with the positive north
To angle, so the initial heading of gyroscope integration is provided by the incipient stability course of electronic compass, then gyroscope is integrated
Obtained course change value obtains gyroscope integration course plus initial heading；Course is moved in gyroscope angular speed integral and calculating
During change value, because the periodic oscillations of body in the motion process of human body will also result in the mechanical periodicity of angular speed, that is, walk
Angular speed is also what the cycle rocked during straight line, so an angular speed threshold value is set in integral algorithm, only when angular speed is big
Just it is judged as that the direction of motion is changed when set threshold value, and the angular speed of this time is integrated is transported
The change value in dynamic direction, it is cumulative to the direction change value of whole motion process to obtain each moment direction of motion relative to initial boat
To change value, so as to integrate real-time course angle along with initial heading angle obtains in motion process gyroscope；Same electronics sieve
Body swing when disk can also be walked by people is influenceed, and corresponding place is done to it also by smothing filtering for electronic compass course angle
Reason, that is, take the intermediate value of last samples point and the first two sampled point to be set to sampling point value.
Further, in step 2, the measurement of people's direct of travel use the gyroscope that smart mobile phone carries and
Electronic compass.
Further, in step 3, the calculation formula of the current location information is：
E0And N0Respectively the east orientation coordinate and north orientation coordinate of initial position, SLkWithRespectively kth step calculates what is obtained
The direction that step-length and people advance, Ek-1And Nk-1For the east orientation coordinate and north orientation coordinate before walking kth step, EkAnd NkTo complete kth step
East orientation coordinate and north orientation coordinate afterwards.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, the present invention is by using the real-time scheme for estimating step-length, and the program passes through step number, step-length, three kinds of direct of travel
Parameter calculates real-time step-length jointly, so as to reach the accurate effect in real time of material calculation.
2nd, present invention employs the acceleration that the technical scheme based on mobile phone built-in sensors, the program pass through interior of mobile phone
Sensor, gyroscope, the data of the device such as electronic compass are calculated, so that more facilities need not be set up by having reached, save manpower and
Cost so that system is more easy to application, the wider array of effect of application.
3rd, the present invention is based only upon the smart mobile phone of user, only using the sensor of interior of mobile phone, so as to reach that user is easy
In using, without connecting WIFI and bluetooth, as long as possessing the i.e. workable effects of qualified mobile phone open app.
4th, present invention employs the direction calculating scheme that electronic compass and gyroscope are merged, the program passes through in different situations
Under automatically select means using electronic compass and gyroscope, so as to reach the effect of the accurate intelligence of direction calculating.
Brief description of the drawings
Fig. 1 is a kind of stream of the indoor positioning air navigation aid based on inertial sensor built in smart mobile phone of the embodiment of the present invention
Cheng Tu.
Fig. 2 be a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone of the embodiment of the present invention in adopt
The variation diagram of the 3-axis acceleration of sampling point.
Fig. 3 be a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone of the embodiment of the present invention in adopt
The resultant acceleration variation diagram and step number detects schematic diagram of sampling point.
Fig. 4 is that a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone of the embodiment of the present invention is described
Track route and the comparison diagram of actual path out.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Embodiment：
As shown in figure 1, present embodiments providing a kind of indoor positioning navigation based on inertial sensor built in smart mobile phone
Method, the described method comprises the following steps：
Step 1: the accurate GPS location signal that record is received, first using accurate GPS location signal as positioning
Beginning position；
Step 2: after gps signal weakens and even disappeared, the road advanced using the real-time recorder of the sensor of mobile phone
Journey and direction, displacement of the people in horizontal plane is calculated with this；
In this step, the distance that the people advances is to be carried out using step probe algorithm by the situation of change to acceleration
Analyze judge people walking situation and draw, specifically include two parts：
The calculating of Part I, step number, is concretely comprised the following steps：
1st, calculate each sampled point 3-axis acceleration vector resultant acceleration (3-axis acceleration of the sampled point to
Amount is gathered by the acceleration transducer carried in smart mobile phone), formula is as follows：
Wherein, aiThe resultant acceleration of ith sample point is represented,Represent ith sample point respectively in mobile phone
The acceleration of the x, y, z axle of coordinate system, the variation diagram of the 3-axis acceleration of the sampled point of the present embodiment is as shown in Figure 2；
2nd, the resultant acceleration local variance of each sampled point is calculated, for removing gravity influence, eliminating acceleration noise
And walking behavior is protruded, formula is as follows：
Wherein,The resultant acceleration local variance of ith sample point is represented, ω represents the size of average window,Represent average local acceleration, ajRepresent the resultant acceleration of j-th of sampled point；
3rd, to resultant acceleration local varianceMoving average filter is carried out, i.e., often has a sampled point, just closes it and accelerates
The numerical value of degree local variance and the first two sampled point is done sums averagely, the resultant acceleration local variance after judging smoothlyWhether
More than the threshold value of setting, ifMore than the threshold value of setting, decision condition C=1 is made, otherwise, decision condition C=0, formula is made
It is as follows：
4th, according to decision condition C situation, judge whether pedestrian has walked a step, if the decision condition of ith sample point
Ci=1, and the decision condition C of i+1 sampled pointi+1=1, continuously occur in decision condition 1 number of times plus 1；If
The decision condition C of ith sample pointi=0, and the decision condition C of i+1 sampled pointi+1=0, will be continuous in decision condition
0 number of times occurred adds 1；If Ci≠Cj, and the number of times for continuously occurring 1 and continuously occurring 0 is all higher than the number of times threshold set
Value, then detect pedestrian's row and make a move, and adds 1 by step number numerical value and resets the continuous number of times for occurring 1 and continuously occurring 0, from step
Rapid 1 continues cycling through, and the resultant acceleration variation diagram and step number detects schematic diagram of the sampled point of the present embodiment are as shown in Figure 3；
The calculating of Part II, step-length, it is real-time by following estimation after height, body weight and the cadence of user is obtained
The model of step-length carrys out material calculation X：
X=0.004292*h+0.000641*w+0.000334*f+0.000182
Wherein, h is the height of user, and unit is cm, and w is the body weight of user, and unit is Kg, and f is the cadence of user, unit
For step/second, the method that collection acceleration information calculates step number according to Part I at regular intervals calculates cadence, substitutes into mould
The real-time step-length of user is obtained after type, and integrates the distance for obtaining people's traveling.
In this step, what the gyroscope and electronic compass that the direction that the people advances is carried using smart mobile phone were used alternatingly
Method is calculated, when judging that the current direction of motion is in change state, gyroscope is integrated obtained motion course as
The course angle of current reckoning；When judging that the current direction of motion is in stable or small change state, then by electronics sieve
Disk motion course as current reckoning course angle.Pass through the short time of gyroscope when the direction of motion changes
Integrate to judge, and certain threshold value is set, if current short time integration is more than the threshold value, judges that the direction of motion is in and change
State, if current short time integration is less than the threshold value, judges that the direction of motion is in stable or small change state.Further
Ground, the calculating for obtaining moving course is integrated for gyroscope, and the change angle value in motion course can only be sought because gyroscope is integrated,
But in reckoning algorithm, it is desirable that the absolute course angle of motion, i.e., with direct north angle, so gyroscope integration
Initial heading is provided by the incipient stability course of electronic compass, and the course change value that then gyroscope integration is obtained is plus initial
Course obtains gyroscope integration course；During gyroscope angular speed integral and calculating motion course change value, due to human body
The periodic oscillations of body will also result in the mechanical periodicity of angular speed in motion process, that is, angular speed is also to rock in the cycle when taking the air line
, so setting an angular speed threshold value in integral algorithm, only just it is judged as when angular speed is more than set threshold value
The direction of motion is changed, and the change value for obtaining the direction of motion is integrated to the angular speed of this time, to whole fortune
The direction change value of dynamic process is cumulative to obtain change value of each moment direction of motion relative to initial heading, so that along with just
Initial course angle obtains gyroscope in motion process and integrates real-time course angle；Body pendulum when same electronic compass can also be walked by people
Dynamic influence, does corresponding processing to it also by smothing filtering for electronic compass course angle, that is, takes last samples point and preceding two
The intermediate value of individual sampled point is set to sampling point value.
Step 3: according to the result of calculation at this moment in step 2 and the positional information of last moment, obtaining current location
Information, the positional information further according to every 2s depicts track route, and the track route that the present embodiment is depicted is as shown in figure 4, reality
Line represents the track route depicted according to technical scheme, and dotted line represents actual path.
In this step, the calculation formula of the current location information is：
E0And N0Respectively the east orientation coordinate and north orientation coordinate of initial position, SLkWithRespectively kth step calculates what is obtained
The direction that step-length and people advance, Ek-1And Nk-1For the east orientation coordinate and north orientation coordinate before walking kth step, EkAnd NkTo complete kth step
East orientation coordinate and north orientation coordinate afterwards.
It is described above, it is only patent preferred embodiment of the present invention, but the protection domain of patent of the present invention is not limited to
This, any one skilled in the art is in the scope disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and its patent of invention design are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (8)
1. a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone, it is characterised in that methods described bag
Include following steps：
Step 1: the accurate GPS location signal that record is received, the initial bit of positioning is used as using accurate GPS location signal
Put；
Step 2: after gps signal weakens and even disappeared, the distance advanced using the real-time recorder of the sensor of mobile phone and
Direction, displacement of the people in horizontal plane is calculated with this；
Step 3: according to the result of calculation at this moment in step 2 and the positional information of last moment, current location information is obtained,
Positional information further according to every 2s depicts track route.
2. a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone according to claim 1, its
It is characterised by：In step 2, the distance that the people advances is to be entered using step probe algorithm by the situation of change to acceleration
Row analysis come judge people walking situation and draw, specifically include two parts：
The calculating of Part I, step number, is concretely comprised the following steps：
1st, the resultant acceleration of the 3-axis acceleration vector of each sampled point is calculated, formula is as follows：
Wherein, aiThe resultant acceleration of ith sample point is represented,Represent ith sample point respectively in mobile phone coordinate
The acceleration of the x, y, z axle of system；
2nd, the resultant acceleration local variance of each sampled point is calculated, formula is as follows：
Wherein,The resultant acceleration local variance of ith sample point is represented, ω represents the size of average window,Represent average local acceleration, ajRepresent the resultant acceleration of j-th of sampled point；
3rd, to resultant acceleration local varianceMoving average filter is carried out, i.e., often has a sampled point, just makes its resultant acceleration office
The numerical value of portion's variance and the first two sampled point is done sums averagely, the resultant acceleration local variance after judging smoothlyWhether it is more than
The threshold value of setting, ifMore than the threshold value of setting, decision condition C=1 is made, otherwise, decision condition C=0 is made, formula is as follows：
4th, according to decision condition C situation, judge whether pedestrian has walked a step, if the decision condition C of ith sample pointi=1,
And the decision condition C of i+1 sampled pointi+1=1, continuously occur in decision condition 1 number of times plus 1；If i-th
The decision condition C of sampled pointi=0, and the decision condition C of i+1 sampled pointi+1=0, will continuously occur in decision condition
0 number of times add 1；If Ci≠Cj, and the number of times for continuously occurring 1 and continuously occurring 0 is all higher than the frequency threshold value set, then
Pedestrian's row is detected to make a move, by step number numerical value add 1 and continuous will occur 1 and the continuous number of times for occurring 0 reset, from step 1 after
Continuous circulation；
The calculating of Part II, step-length, after height, body weight and the cadence of user is obtained, passes through the following real-time step-length of estimation
Model carry out material calculation X：
X=0.004292*h+0.000641*w+0.000334*f+0.000181
Wherein, h is the height of user, and unit is cm, and w is the body weight of user, and unit is Kg, and f is the cadence of user, and unit is
Step/second, gathers acceleration information and calculates cadence according to the method for Part I calculating step number, substitute into model at regular intervals
The real-time step-length of user is obtained afterwards, and integrates the distance for obtaining people's traveling.
3. a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone according to claim 2, its
It is characterised by：In step 2, the 3-axis acceleration vector of the sampled point is the acceleration sensing by being carried in smart mobile phone
Device collection.
4. a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone according to claim 1, its
It is characterised by：In step 2, method that the direction that the people advances is used alternatingly using gyroscope and electronic compass is calculated, when
When judging that the current direction of motion is in change state, gyroscope is integrated to obtained motion course and is used as current reckoning
Course angle；When judging that the current direction of motion is in stable or small change state, then the motion course of electronic compass is made
For the course angle of current reckoning.
5. a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone according to claim 4, its
It is characterised by：In step 2, integrate to judge by the short time of gyroscope when the direction of motion changes, and set one
Fixed threshold value, if current short time integration is more than the threshold value, judges that the direction of motion is in variable condition, if current short time product
Divide and be less than the threshold value, then judge that the direction of motion is in stable or small change state.
6. a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone according to claim 4 or 5,
It is characterized in that：In step 2, the calculating for obtaining moving course is integrated for gyroscope, because gyroscope integration can only ask motion
The change angle value in course, but in reckoning algorithm, it is desirable that the absolute course angle of motion, i.e., pressed from both sides with direct north
Angle, so the initial heading of gyroscope integration is provided by the incipient stability course of electronic compass, then gyroscope integration is obtained
Course change value plus initial heading obtain gyroscope integration course；Course change is moved in gyroscope angular speed integral and calculating
During value, because the periodic oscillations of body in the motion process of human body will also result in the mechanical periodicity of angular speed, that is, take the air line
When angular speed be also what the cycle rocked, so in integral algorithm set an angular speed threshold value, only when angular speed be more than institute
Just it is judged as that the direction of motion is changed during the threshold value of setting, and acquisition motion side is integrated to the angular speed of this time
To change value, it is cumulative to the direction change value of whole motion process to obtain each moment direction of motion relative to initial heading
Change value, so as to integrate real-time course angle along with initial heading angle obtains gyroscope in motion process；Same electronic compass
Body swing when can be walked by people is influenceed, and corresponding processing is done to it also by smothing filtering for electronic compass course angle,
The intermediate value of last samples point and the first two sampled point is taken to be set to sampling point value.
7. a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone according to claim 1, its
It is characterised by：In step 2, the measurement of people's direct of travel uses gyroscope and electronic compass that smart mobile phone is carried.
8. a kind of indoor positioning air navigation aid based on inertial sensor built in smart mobile phone according to claim 1, its
It is characterised by：In step 3, the calculation formula of the current location information is：
E0And N0Respectively the east orientation coordinate and north orientation coordinate of initial position, SLkWithRespectively kth step calculates obtained step-length
The direction advanced with people, Ek-1And Nk-1For the east orientation coordinate and north orientation coordinate before walking kth step, EkAnd NkTo complete after kth step
East orientation coordinate and north orientation coordinate.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107490784A (en) * | 2017-09-01 | 2017-12-19 | 青岛海信电器股份有限公司 | A kind of indoor orientation method and device based on laser positioning |
| CN107677267A (en) * | 2017-08-22 | 2018-02-09 | 重庆邮电大学 | Indoor pedestrian navigation course feedback modifiers method based on MEMS IMU |
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| CN109520494A (en) * | 2017-09-19 | 2019-03-26 | 北京自动化控制设备研究所 | One kind is based on the micro- inertia autonomous navigation method of indoor walking |
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| CN110109161A (en) * | 2018-02-01 | 2019-08-09 | 高德信息技术有限公司 | A kind of fingerprint characteristic acquisition method and device |
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| CN113124861A (en) * | 2021-03-03 | 2021-07-16 | 深圳市星砺达科技有限公司 | Space-assisted electronic equipment positioning method and device, computer equipment and medium |
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| CN107677267A (en) * | 2017-08-22 | 2018-02-09 | 重庆邮电大学 | Indoor pedestrian navigation course feedback modifiers method based on MEMS IMU |
| CN107490784A (en) * | 2017-09-01 | 2017-12-19 | 青岛海信电器股份有限公司 | A kind of indoor orientation method and device based on laser positioning |
| CN109470238B (en) * | 2017-09-08 | 2023-09-01 | 中兴通讯股份有限公司 | Positioning method and device and mobile terminal |
| CN109470238A (en) * | 2017-09-08 | 2019-03-15 | 中兴通讯股份有限公司 | A kind of localization method, device and mobile terminal |
| CN109489683A (en) * | 2017-09-13 | 2019-03-19 | 中兴通讯股份有限公司 | A kind of step-size estimation method, mobile terminal and storage medium |
| CN109520494A (en) * | 2017-09-19 | 2019-03-26 | 北京自动化控制设备研究所 | One kind is based on the micro- inertia autonomous navigation method of indoor walking |
| CN107976187A (en) * | 2017-11-07 | 2018-05-01 | 北京工商大学 | A kind of high-precision track reconstructing method and system in the interior of fusion IMU and visual sensor |
| CN107976187B (en) * | 2017-11-07 | 2020-08-04 | 北京工商大学 | Indoor track reconstruction method and system integrating IMU and vision sensor |
| CN109782312A (en) * | 2017-11-10 | 2019-05-21 | 北京金坤科创技术有限公司 | A kind of adaptive outdoor positioning method of multi-source |
| CN110058265A (en) * | 2018-01-18 | 2019-07-26 | 孙宏民 | The analysis method of global positioning system |
| CN110109161A (en) * | 2018-02-01 | 2019-08-09 | 高德信息技术有限公司 | A kind of fingerprint characteristic acquisition method and device |
| 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 |
| 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 |
| CN108983272A (en) * | 2018-08-03 | 2018-12-11 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging Beidou or GPS and sensor |
| CN108761514A (en) * | 2018-08-03 | 2018-11-06 | 北斗国信智能科技（北京）有限公司 | A kind of positioning system and localization method merging the Big Dipper or GPS and sensor |
| CN109297495A (en) * | 2018-09-21 | 2019-02-01 | 中国人民解放军战略支援部队信息工程大学 | A kind of pedestrian navigation localization method and pedestrian navigation positioning system |
| CN109297495B (en) * | 2018-09-21 | 2020-12-11 | 中国人民解放军战略支援部队信息工程大学 | Pedestrian navigation positioning method and pedestrian navigation positioning system |
| CN110068327A (en) * | 2019-05-22 | 2019-07-30 | 华南理工大学 | Tunnel defect localization method based on smart phone and MEMS inertial sensor |
| CN110672099A (en) * | 2019-09-09 | 2020-01-10 | 武汉元生创新科技有限公司 | Course correction method and system for indoor robot navigation |
| CN110986997A (en) * | 2019-10-25 | 2020-04-10 | 杭州十域科技有限公司 | Method and system for improving indoor inertial navigation precision |
| CN113124861A (en) * | 2021-03-03 | 2021-07-16 | 深圳市星砺达科技有限公司 | Space-assisted electronic equipment positioning method and device, computer equipment and medium |
| CN114111834A (en) * | 2021-12-07 | 2022-03-01 | 甄十信息科技（上海）有限公司 | Method and device for determining wearable device to leave specific area |
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