CN108007456A - A kind of indoor navigation method, apparatus and system - Google Patents
A kind of indoor navigation method, apparatus and system Download PDFInfo
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- CN108007456A CN108007456A CN201711279091.7A CN201711279091A CN108007456A CN 108007456 A CN108007456 A CN 108007456A CN 201711279091 A CN201711279091 A CN 201711279091A CN 108007456 A CN108007456 A CN 108007456A
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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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- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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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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Abstract
The invention discloses a kind of indoor navigation method, apparatus and system, method and step includes：Determine attitude angle, initial angle of drift, the initial state information of indoor navigation device；Icon information is searched for, is detected, is shot, decoded and obtained in real time to the icon being arranged on ceiling by taking module；The real-time position information of indoor guider is calculated according to icon information.The present invention carries out Global localization using inertial navigation technology, state estimation is carried out according to the data of accelerometer, gyroscope and magnetometer, and correct the accumulated error of elimination inertial navigation in time using the multiple icons being arranged on ceiling, greatly improve the precision of indoor navigation, there is provided accurate indoor positioning navigation.
Description
Technical field
The present invention relates to indoor navigation field of locating technology, more particularly to a kind of indoor navigation method, apparatus and system.
Background technology
With the development of science and technology, people are increasing for the demand of indoor navigation, for example, in megastore, exhibition, stop
Parking lot, hospital, airport etc. need the complex indoor scene of navigator fix, and the positional information of people is extremely important.
The core of indoor positioning is the Global localization of system, it is calculated by the attribute of aware space characteristic quantity using corresponding
Method calculates the physical location or logical location information of carrier.The inertial navigation technology developed by Newton classic mechanics can not
By extra deployment facility, the instantaneous velocity of carrier platform, positional information are calculated automatically and provides status information for carrier, is
The mainstream scheme of " passive " indoor positioning；But its accumulated error is serious, positioning accuracy may be caused poor, it is impossible to meet for a long time
Positioning requirements, it is necessary to be modified using the measure of external auxiliary to accumulated error.
At present, already present indoor positioning technologies have Bluetooth (bluetooth) location technology, UW (Ultra Wideband,
Super-broadband tech), infrared location technology, RFID (radio frequency identification location technology), WiFi location technologies, Magnetic oriented technology with
And computer vision location technology etc., they are mainly using modes such as radio frequency, infrared distance measurement, fingerprint matching and image recognitions come real
Existing indoor positioning.However, these technologies are since lower deployment cost is higher, limited precision, is easily disturbed, the original such as business application difficulty
Cause, is not widely used in public place.
The locating scheme of single-sensor is difficult to solve the problems, such as Global localization at present, and existing indoor positioning scheme has
Following defect：(1) antijamming capability is weak.Stability based on bluetooth indoor positioning technologies system is slightly worse, is easily subject to noise to do
Disturb；Indoor positioning technologies based on WIFI can be only applied to small-scale indoor positioning, can not solve the problems, such as Global localization, and
Easily disturbed be subject to other signals, energy consumption is also higher.Ultrasonic wave positioning is easily influenced by multipath effect and non-line-of-sight propagation；It is infrared
Linear light line cannot pass through barrier so that infrared-ray is only capable of line-of-sight propagation and the interference of easy indoor light.(2) positioning is set
Standby cost is higher.Bluetooth indoor positioning technologies are such as based on, costly, ultrasonic wave positioning needs substantial amounts of its equipment price at the same time
Bottom hardware facility investment, cost are too high；Ultra wideband location techniques and indoor-GPS technology need substantial amounts of correlator, fixed
Position cost is very high.
The content of the invention
The technical problem to be solved in the present invention is, for prior art antijamming capability is weak, location equipment cost is higher
The defects of, there is provided a kind of indoor navigation method, apparatus and system.
The technical solution adopted by the present invention to solve the technical problems is：According to an aspect of the present invention, there is provided a kind of room
Interior air navigation aid, specifically includes step：
Determine attitude angle, initial angle of drift, the initial state information of indoor navigation device；
Figure is searched for, is detected, is shot, decoded and obtained in real time to the icon being arranged on ceiling by taking module
Mark information；The taking module is disposed in the interior on guider；
The real-time position information of indoor guider is calculated according to icon information.
Preferably, it is described the icon that is arranged on ceiling carried out by taking module searching in real time, detected, shooting,
Decode and specifically included the step of obtaining icon information：
Search in real time, detection, shooting figure target icon image；
Binaryzation is carried out to icon image and determines its icon profile；
Screening determines the target icon as icon that icon profile is quadrangle；
Judge whether target icon is the icon to prestore, if so, then recording the image coordinate on four vertex of target icon；
The image coordinate location on four vertex of sub-pix purification candidate's icon；
Pass through pose of the P4P calculation icons with respect to taking module.Specifically, being calculated by P4P, target icon is opposite to be shot
The calculation formula of the pose of module is：
Preferably, the computation model of the real-time position information use that indoor guider is calculated according to icon information is
IMU pre-integration models；The formula of the IMU pre-integration models is：
Wherein, it is describedIt is the spin matrix of indoor navigation device,It is the speed of indoor navigation device,For
The positional information of indoor navigation device.
Preferably, aBAcceleration, ω for the accelerometer measures of indoor navigation deviceBFor indoor navigation device
The angular speed of gyroscope measurement；The ωBAnd aBCalculation formula be：
Wherein, the baFor acceleration aBMeasure the acceleration bias being subject to；The bgFor angular velocity omegaBWhat measurement was subject to
Angular speed deviation；The ηaFor acceleration aBMeasure the noise being subject to；The ηgFor angular velocity omegaBMeasure the noise being subject to.
Preferably, the quantity of the icon is multiple that the icon is passive directive icon.
Preferably, multiple icons can be arranged on the optional position of the ceiling, have between multiple icons
Clear accurate position relationship.
According to another aspect of the present invention, there is provided a kind of indoor navigation device, including it is control module, homogeneous with control module
Taking module even, IMU modules；Wherein, the IMU modules include accelerometer, gyroscope and magnetometer；The taking module
High-definition camera head module for camera lens towards ceiling；The control module is used to perform above-mentioned indoor navigation method.
According to another aspect of the present invention, there is provided a kind of indoor navigation system, including it is arranged at the multiple of indoor ceiling
Icon, and foregoing indoor navigation device.
Implementation indoor navigation method of the present invention, the above-mentioned technical proposal of apparatus and system, have the following advantages that or beneficial to effect
Fruit：The present invention carries out Global localization using inertial navigation technology, and shape is carried out according to the data of accelerometer, gyroscope and magnetometer
State is estimated, and corrects the accumulated error of elimination inertial navigation in time using the multiple icons being arranged on ceiling, carries significantly
The precision of high indoor navigation, there is provided accurate indoor positioning navigation.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it is therefore apparent that drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Scheme, in attached drawing：
Fig. 1 is the flow diagram of indoor navigation method embodiment of the present invention；
Fig. 2 is the structure diagram of indoor navigation system embodiment of the present invention；
Fig. 3 is the method schematic diagram of indoor navigation system embodiment of the present invention；
Fig. 4 is the position view of indoor navigation method embodiment of the present invention；
Fig. 5 is the scene arrangement schematic diagram of indoor navigation system embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, the various implementations that will be described below
Example will refer to corresponding attached drawing, these attached drawings constitute a part for embodiment, which describe and realize that the present invention may adopt
Various embodiments.It should be appreciated that other embodiments also can be used, or structure and work(are carried out to embodiment enumerated herein
Modification on energy, without departing from the scope of the present invention and essence.
Embodiment one：
As shown in Figs 1-4, the present invention provides a kind of indoor navigation method embodiment, for carrying out essence to indoor navigation device
True location navigation, specifically includes step：
S1, the attitude angle for determining indoor navigation device, initial angle of drift, initial state information；
Specifically, being for the initial alignment to indoor navigation device, determine the attitude angle of indoor navigation device, determine just
Beginning status information, and calibrate the initial angle of drift of magnetometer.Taking module is demarcated, obtain taking module intrinsic parameter and
Distortion factor, is detected icon by taking module, by the relation between the pixel coordinate and photo coordinate system of pixel,
Relation and projection relation between camera coordinates system and world coordinate system obtain the calculation formula of attitude angle.
More specifically, the step of determining the attitude angle of indoor navigation device, initial angle of drift, initial state information is specific
Including：
S11, demarcate taking module, obtains the intrinsic parameter and distortion factor of taking module；
S12, by taking module be detected the icon icon being arranged on ceiling, and the pixel for obtaining icon is sat
Mark；
Specifically, icon is passive directional icon, which includes unique id information, which can be
The id information of 3*3,4*4,5*5 etc., meanwhile, which is passive, it is not necessary to sends or receive any signal, and the side of being respectively provided with
Tropism, specific direction are determined by the id information of icon.Multiple icons can be arranged on the optional position of ceiling, can be with
It is randomly provided, there is clear accurate position relationship between multiple icons, i.e., the mutual distance of multiple icons need to be measured accurately in advance
Out.The quantity that multiple icons are specifically set is true by the height on ceiling and ground, the camera lens wide-angle COMPREHENSIVE CALCULATING of taking module
It is fixed.For example, the icon of the ceiling arrangement of liftoff 3m high will ensure that the taking module on ground can recognize at least one exactly
A icon, to ensure positioning accuracy, it is desirable to which the distance between 2 icons do not exceed 1.5m, while it is flat to require icon to put up
It is whole, meanwhile, ceiling should be substantially parallel with ground, its angle should be less than within 5 °.
S13, the attitude angle for calculating indoor guider.
S14, the initial angle of drift for calibrating magnetometer；
S15, determine initial state information, includes the original state positional information of setting indoor navigation device, such as indoors
When guider starts, that is, current position coordinates are set as (0,0,0) etc..
S2, by taking module searched for, detected, shot, decoded and obtained to the icon being arranged on ceiling in real time
Take icon information；Specifically, taking module is disposed in the interior on guider, the camera lens of the taking module, can towards ceiling
To shoot the icon on ceiling.
Specifically, icon is searched for, detected, taken pictures and decoded using taking module, including two to icon information
Value threshold process and profile Processing Algorithm, and eliminate interference information by restraining OSTU algorithms greatly.
More specifically, the icon progress being arranged on ceiling is searched in real time by taking module, is detected, is shot,
Decode and specifically included the step of obtaining icon information：
S21, in real time search, detection, shooting figure target icon image；
S22, carry out icon image binaryzation and determine its icon profile；
S23, screening determine the target icon as icon that icon profile is quadrangle；
S24, judge whether target icon is the icon to prestore, if so, then recording the image on four vertex of target icon
Coordinate；
S25, sub-pix purify the image coordinate location on four vertex of target icon；
S26, calculate pose of the target icon with respect to taking module by P4P；Specifically, target icon is calculated by P4P
Calculation formula 1 with respect to the pose of taking module is：
If Intrinsic Matrix is known, then knows 4 or the not conllinear point of more multi-level coplanar can calculate
The posture of camera.The posture of indoor navigation device can be gone out using 4 or more coplanar not conllinear points, that is, be calculated R and
T, specifically, R is spin matrix, t is motion vector.
Conversion from world coordinate system to camera coordinates system is, it is necessary to matrix [R | t], and wherein R is spin matrix, and t is displacement
Vector.If world coordinate system is X, camera coordinates system respective coordinates are X', then and X'=[R | t] * X.From camera coordinates system to
The conversion of preferable screen coordinate system just needs Intrinsic Matrix C.So ideal screen coordinate system L=C* [R | t] * X.How to obtain
[R | t], generally several key points in known template world coordinate system coordinate, that is, X it is known that then being captured in camera
Frame in obtain the coordinate, that is, L of corresponding points in template in screen coordinate system it is known that obtained by solving system of linear equations [R | t]
Initial value, recycles nonlinear least square method iteration to try to achieve optimal transform matrix [R | t].
In more detail, the principle of the vision algorithm of taking module is as follows：
(1) binaryzation is carried out to the icon image photographed.
(2) profile after binaryzation is found.
Specifically, carrying out topological analysis to digital bianry image, determine Edge tracking of binary image surrounds relation, that is, determines outer
Border, hole edge circle and their hierarchical relationship, since these borders and the region of artwork have one-to-one relationship (outer boundary
Respective pixel value is 1 connected region, and hole edge bound pair answers the region that pixel value is 0), therefore we can be with border come table
Show artwork.The bianry image of input is 0 and 1 image, and the pixel value of image is represented with f (i, j).Each row scanning, runs into
Following two situations terminate：A, f (i, j-1)=0, f (i, j)=1；//f (i, j) is the starting point of outer boundary；B、f(i,j)>
=1, f (i, j+1)=0；//f (i, j) is the starting point of hole edge circle.
Then since starting point, the pixel in mark boundaries.A unique indications are distributed herein to new discovery
Border, be called NBD.NBD=1 when initial, has found that a new border adds 1 every time.In this process, f (p, q)=1 is run into,
During f (p, q+1)=0, f (p, q) is set to-NBD.
(3) candidate's icon that the profile of quadrangle is detected as icon is found.
After step (2), the profile of many polygons is had inside bianry image.We will find the wheel of visual cues
It is wide.All it is black since visual icons outermost one encloses, and is a black silhouette for square.Therefore, to be found in image
All quadrangles (being exactly visual cues inside this quadrangle, also there are some not have visual cues certainly).
(4) judge the size of the candidate point length of side, if it is minimum while less than it is maximum while 1/2, abandon candidate's icon.
There are visual cues inside not all quadrangular configuration, since the circle of visual cues outermost one is square, consider noise
Influence, if 1/2 of the minimum length of side less than maximal side of this quadrangle, it is not square that we, which are considered as this quadrangle,
Shape.
(5) judge whether the frame of the quadrangle of remaining Candidate Mutant is completely black, gives up if not completely black.
All it is black since the visual cues outermost one of design encloses (grid of 5x5), to judge in (4) step
Detecting successful quadrangle, whether border is completely black.First, it is quadrangle projective transformation (formula has on the net) pixel
The small picture of 100x100 (this small picture is exactly the picture of visual cues), then visual cues outermost one encloses each black
Pixel shared by blockage is exactly 20x20.Judge whether each blockage is black (if this blockage has one respectively
More than half pixel is black, and it is black that we, which are considered as this blockage).Only all blockages are all black,
It can illustrate that this quadrangle frame is completely black.
(6) detect whether candidate's icon is existing Icon ID.
If step (5) detects successfully, which is target icon, the icon inside quadrangle is decoded,
The code area of the icon of design is the chequered with black and white lattices of 3x3.Black lattice represents 0, and white lattice represents 1.So
These 0 and 1 codings are stored in program in advance (these codings are exactly the coding of the visual cues pasted on ceiling).Then
We will be differentiated either with or without the coding of the visual cues on ceiling inside the quadrangle of our detections, if so, being which is compiled
Code, and record its ID.
(7) if detecting successfully, the pixel coordinate on four vertex of record icon.
Once detecting visual cues, visual cues outermost one in image can be enclosed (four tops of the completely black profile of quadrangle
Point) four vertex record.
(8) sub-pix purifies the coordinate position of four vertex graph pictures.
Since the error of a pixel is too big, (i.e. floating-point that we can be the coordinate optimizing on this four vertex into sub-pix
Type coordinate).
(9) pose of the P4P calculation icons with respect to taking module is passed through.
Using visual cues as world coordinate system, then the outermost one of the visual cues in the world encloses four of (completely black profile)
The coordinate on vertex, we can obtain taking human as measurement.Four coordinate points have been also detected that inside image.Can be with by projection equation
Obtain pose of the visual icons with respect to camera.Projection relation is as shown in formula 1.Each point can form two equations, altogether
There are 8 equations, it is possible to solve variable R and t.
(10) changed by coordinate and coordinate system is gone on icon, then the coordinate system of icon is gone to the first frame of IMU
On.
Since the position of calculating is (pose of the visual icons in mobile camera coordinates system) under camera coordinates system,
This pose turning initially to (pose of the mobile camera under motionless icon coordinate system) under image coordinate system, is being gone to phase by we
The first frame coordinate system (pose of the mobile camera under the first frame coordinate of camera system) of machine.
S3, the real-time position information according to the indoor guider of icon information calculating.
Specifically, Global localization uses inertial navigation technology, using IMU, (Inertial measurement unit, are used to
Property measuring unit) pre-integration model algorithm, according to the data of accelerometer, gyroscope and magnetometer sensor, to indoor navigation
The state of device is estimated, accumulated error is had since IMU is integrated for a long time.Therefore, after IMU integrates a period of time,
The accumulated error of IMU pre-integration is eliminated by using taking module.
External parameters calibration, that is, Attitude estimation problem, estimates the 3D postures of object from the mapping of one group of 2D point.It is right from three
In should putting recover posture, it is necessary to information be it is minimum, be known as " three-point perspective problem " i.e. P3P.Similarly, N number of point is expanded to,
It is known as " PnP ".The Attitude estimation of view-based access control model is divided into monocular vision and multi-vision visual according to the video camera number used.According to
Algorithm can be divided into the Attitude estimation based on model and the Attitude estimation based on study again.
More specifically, the computation model of the real-time position information use of indoor guider is calculated according to icon information is
IMU pre-integration models；The formula 2 of the IMU pre-integration models is：
Wherein,It is the spin matrix of indoor navigation device (IMU),It is the speed of indoor navigation device (IMU)
Degree,For the positional information of indoor navigation device (IMU).Specifically, between the two field pictures of input, start IMU pre-integration
Model calculates the posture information of indoor navigation device, and exports the location information between the two field pictures moment, due to the pre- products of IMU
Divide there is accumulated error, elaborate position information solved by visual projection to eliminate the accumulated error of IMU pre-integration models,
Realize being accurately positioned for indoor navigation device.Specifically, using IMU pre-integration models, the reference coordinate for setting IMU is B, camera
Reference coordinate be C, aBAcceleration, ω for the accelerometer measures of indoor navigation deviceBFor the gyroscope of indoor navigation device
The angular speed of measurement；ωBAnd aBCalculation formula 3 be：
Wherein, baFor acceleration aBMeasure the acceleration bias being subject to；bgFor angular velocity omegaBIt is inclined to measure the angular speed being subject to
Difference；ηaFor acceleration aBMeasure the noise being subject to；ηgFor angular velocity omegaBMeasure the noise being subject to.
In the present embodiment, the solution of the speed of indoor navigation device is to solve to obtain by a multiple integral of accelerometer
, and angle information is integrated to obtain by gyroscope, there are accumulated error, the positional information drawn with step S1 corrects IMU
The positional information that pre-integration is drawn eliminates error, while the location information of time is drawn by IMU pre-integration between two field pictures.
In the present embodiment, indoor navigation device (mobile load is accurately positioned by continuous repeat step S2 and step S3
Body) real time position and frequency it is higher when location information.
The present invention corrects tiring out for inertial navigation using multiple icons of installation are set on ceiling parallel to the ground
Product error, detection is marked using taking module to input picture frame, includes binary conversion treatment and wheel to icon among these
Exterior feature extraction, carries out ID decodings, by known coplanar 4 not conllinear 3D spot projections to two dimensional image to the icon detected
8 equations can be obtained, change between icon and taking module (indoor navigation device) can be arrived by solving this 8 equations
Relation is changed, then by initial frame of the coordinate transform world coordinate transformation to IMU, it is possible to obtain current IMU with respect to
The posture information of one frame IMU, you can correct the pose of current IMU.The message frequency of the issue of IMU is 200Hz, i.e. 5ms can
To provide a location information, the pose frequency that taking module is calculated by vision algorithm is probably 5Hz-10Hz, therefore, IMU
Accumulation calculates 20-40 positioning left and right, and taking module can be modified the accumulated error of IMU, by being positioned with IMU pre-integration
For main body, the mode that vision corrects accumulated error realizes that the autonomous of indoor navigation device is accurately positioned.
The present invention carries out Global localization using inertial navigation technology, according to the data of accelerometer, gyroscope and magnetometer
State estimation is carried out, and corrects the accumulated error of elimination inertial navigation in time using the multiple icons being arranged on ceiling,
Greatly improve the precision of indoor navigation, there is provided accurate indoor positioning navigation.
Embodiment two：
As shown in Figure 2-5, the present invention also provides a kind of indoor navigation device embodiment, including control module 11 and control
The connected taking module 12 of module 11, IMU modules 13；Specifically, IMU modules 13 include accelerometer, gyroscope and magnetometer
(not shown).Taking module 12 is high-definition camera head module, and the camera lens of the taking module 12 is upwards against ceiling, for clapping
Take the photograph the multiple icons being arranged on ceiling.More specifically, which can be microcontrol processor (such as Raspberry Pi
Processor), the data that each sensor is collected, are predicted using Kalman filtering algorithm so as to obtain dbjective state
Information.Control module 11 is used to perform the indoor navigation method in embodiment one, and this will not be repeated here for specific method step.Need
Illustrate, which is arranged on mobile vehicle, which can be Indoor Robot, vehicle etc.
Deng.
Embodiment three：
As shown in Figure 2-5, the present invention also provides a kind of indoor navigation system embodiment, including it is arranged at indoor ceiling
Multiple icons 200, and the indoor navigation device 100 in embodiment two.Specifically, the air navigation aid of indoor navigation device is strictly according to the facts
The indoor navigation method of example one is applied, this will not be repeated here for specific method step.More specifically, the quantity of icon 200 is multiple,
And icon 200 is passive directive icon.Multiple icons 200 can be arranged on the optional position of ceiling, between multiple icons
With clear accurate position relationship.Ceiling requirement is substantially parallel with the ground where indoor navigation device 100, even if having one
Determine angle, mutual angle should be within 10 degree.
The application indoor navigation system can reach real-time navigation on the hardware device of low cost.MEMS systems can be with
Provide high-frequency location information, the accumulated error that vision system can be with real time correction MEMS system between two frame of vision.It is whole
A system is considerable, and error will not become larger with the accumulation of time and displacement, that is to say, that our systematic error is convergence
's.
After content which will be described is read, it should be apparent to a person skilled in the art that described herein each
Kind feature can be realized by method, data handling system or computer program product.Therefore, these features can portion use hardware
Mode, all showed by the way of the software or by the way of hardware and software combination.In addition, features described above also may be used
Showed in the form of the computer program product being stored on one or more computer-readable recording mediums, the computer
Computer readable program code section or instruction are included in readable storage medium storing program for executing, it is stored in storage medium.It can use and appoint
The computer-readable recording medium what is used, including hard disk, CD-ROM, light storage device, magnetic storage apparatus and/or the said equipment
Combination.
The foregoing is merely illustrative of the preferred embodiments of the present invention, and those skilled in the art know, is not departing from the present invention
Spirit and scope in the case of, various changes or equivalent substitution can be carried out to these features and embodiment.In addition, in this hair
Under bright teaching, it can modify to these features and embodiment to adapt to particular situation and material without departing from this hair
Bright spirit and scope.Therefore, the present invention is not limited to the particular embodiment disclosed, and falls with the power of the application
Embodiment in sharp claimed range belongs to protection scope of the present invention.
Claims (10)
1. a kind of indoor navigation method, it is characterised in that specifically include step：
Determine attitude angle, initial angle of drift, the initial state information of indoor navigation device；
The icon being arranged on ceiling is searched for, is detected, is shot, decoded and is obtained in real time by taking module icon letter
Breath；The taking module is arranged on the indoor navigation device；
The real-time position information of the indoor navigation device is calculated according to the icon information.
2. indoor navigation method according to claim 1, it is characterised in that it is described by taking module to being arranged at smallpox
Icon on plate is searched for, is detected, shot, decoded and specifically included the step of obtaining icon information in real time：
The icon image of the icon is searched for, detected, shooting in real time；
Binaryzation is carried out to the icon image and determines its icon profile；
Screening determines the target icon of icon as described in that the icon profile is quadrangle；
Judge whether the target icon is the icon to prestore, if so, then recording the image on four vertex of the target icon
Coordinate；
Sub-pix purifies the image coordinate location on four vertex of the target icon；
The pose of the relatively described taking module of the target icon is calculated by P4P.
3. indoor navigation method according to claim 2, it is characterised in that described that the target icon is calculated by P4P
The calculation formula of the pose of relatively described taking module is：
。
4. indoor navigation method according to claim 1, it is characterised in that described according to calculating the icon information
The computation model that the real-time position information of indoor navigation device uses is IMU pre-integration models；The public affairs of the IMU pre-integration model
Formula is：
Wherein, it is describedFor the spin matrix of the indoor navigation device,For the speed of the indoor navigation device,For the positional information of the indoor navigation device.
5. indoor navigation method according to claim 4, it is characterised in that describedFor adding for the indoor navigation device
The acceleration, described of speedometer measurementThe angular speed measured for the gyroscope of the indoor navigation device；It is describedWith it is describedCalculation formula be：
；
；
Wherein, it is describedFor the accelerationMeasure the acceleration bias being subject to；It is describedFor the angular speedMeasurement
The angular speed deviation being subject to；It is describedFor the accelerationMeasure the noise being subject to；It is describedFor the angular speedSurvey
Measure the noise being subject to.
6. indoor navigation method according to claim 1, it is characterised in that the quantity of the icon is multiple, the figure
It is designated as passive directive icon.
7. indoor navigation method according to claim 6, it is characterised in that multiple icons can be arranged on the day
The optional position of card, has clear accurate position relationship between multiple icons.
8. a kind of indoor navigation device, it is characterised in that including control module（11）And the control module（11）Connected bat
Take the photograph module（12）, IMU modules（13）；The IMU modules（13）Including accelerometer, gyroscope and magnetometer；
The control module（11）For performing such as claim 1-7 any one of them indoor navigation methods.
9. indoor navigation device according to claim 8, it is characterised in that the taking module（12）It is camera lens towards day
The high-definition camera head module of card.
A kind of 10. indoor navigation system, it is characterised in that multiple icons including being arranged at indoor ceiling（200）, Yi Jiru
Claim 8-9 any one of them indoor navigation devices（100）.
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