CN109782312A - A kind of adaptive outdoor positioning method of multi-source - Google Patents
A kind of adaptive outdoor positioning method of multi-source Download PDFInfo
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- CN109782312A CN109782312A CN201711103223.0A CN201711103223A CN109782312A CN 109782312 A CN109782312 A CN 109782312A CN 201711103223 A CN201711103223 A CN 201711103223A CN 109782312 A CN109782312 A CN 109782312A
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- global position
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Abstract
The present invention provides a kind of adaptive outdoor positioning methods of multi-source, it is characterised in that: according to the velocity information of user, judges user's current state, different localization methods is then taken according to different states.The size relation for the preset threshold speed of velocity information homologous ray that the algorithm is provided according to global position system first is in ambulatory status or vehicle-mounted state with judgement.If detecting ambulatory status, resolving, the positioning of this method Satellite positioning system periodic breaks are merged with satellite positioning using pedestrian's reckoning.The position of pedestrian's reckoning user is used in the global position system dormant stage.If detecting vehicle-mounted state, positioned using global position system.The present invention reduces equipment power dissipation in the case where not sacrificing positioning accuracy, improves standby time.
Description
Technical field
The invention belongs to multi-source field of locating technology
Background technique
Present global position system has become the standard configuration of most of smart machines such as mobile phone, plate, utilizes satellite
Position system or communication base station realize that outdoor positioning is widely used.But global position system positioning, function are opened for a long time
Consumption is big, reduces standby time.In addition in tunnel, intensive building also can be fixed to global position system due to blocking for signal
Cause large error in position.
The characteristics of present invention combination PDR (pedestrian's reckoning) is influenced by the external world, PDR is combined with global position system
Positioning, reduces since the influence of signal causes position error.It works, drops additionally, due to by global position system periodic breaks
Low equipment power dissipation.When global position system suspend mode, PDR is positioned.Since PDR can only be utilized to using under ambulatory status
The different motion state of global position system output speed data separation, and then adaptively selected suitable method positioning.
Summary of the invention
The invention proposes a kind of adaptive outdoor positioning method of multi-source, this method first carries out the status information of user
Judgement, then selects suitable localization method, to reach reduction power consumption, improves the purpose of positioning accuracy and standby time.
The detailed positioning flow of this method is as follows:
Step 01: default active user is in outdoor state, acquires global position system information (including warp by terminal
Degree, latitude, speed, direction, time)；The acceleration of acquisition terminal is started by accelerometer and gyroscope simultaneously, angular speed is believed
Breath.The global position system working time is set as T1, positioning stablity time T2, dormancy time T3.
Step 02: judging the velocity information that global position system provides, check whether less than setting speed threshold value V.If full
Foot then enters ambulatory status, otherwise enters vehicle-mounted state.
Step 03: when entering vehicle-mounted state, closing PDR, only global position system works.According to the vehicle-mounted speed of output
Degree, global position system adaptively adjust work and dormancy time).
Step 04: closing PDR, global position system periodic duty.
Step 05: record vehicle-mounted Status satellite positioning system longitude and latitude positional information (include: longitude, latitude, speed, when
Between).Jump procedure 15.
Step 06: when judgement enters ambulatory status, global position system and PDR are worked at the same time.Global position system is
Periodic duty, PDR are to work always.
Step 07: judge global position system the working time whether be greater than positioning stablity threshold value T2 (T2 be detection satellite
Positioning system the operation is stable time).If not satisfied, jump procedure 08；If satisfied, then jump procedure 09.
The initial position of step 08:PDR and direction are all 0 °.
Step 09: global position system saves global position system position letter when the working time meets stable threshold T2
Breath, directional information (including: longitude, latitude, speed, direction, time).
Step 10: while using the directional information of global position system as the direction of motion information of PDR, while it is full for the first time
The global position system location information at sufficient stable threshold T2 moment is assigned to PDR, the initial position message as PDR；Remaining moment
It does not need location information to be assigned to PDR, it is only necessary to which directional information is assigned to PDR.Respectively record global position system location information,
PDR location information.Jump procedure 12.
Step 11: while gyro sensor at every moment detects whether terminal occurs corner, to go to the amendment course PDR
Information.If the angle value of gyroscope is greater than corner threshold value δ 1, it is cumulative up to the angle value of gyroscope is less than angle to carry out angle
Stable threshold δ 2.Otherwise the angle value of previous moment is kept.Before when the cumulative initial heading of angle is global position system suspend mode
The directional information of a moment output, is then gradually added up according to the increment that gyroscope exports, obtains the course information of user.
Step 12: judging whether the working time is greater than working time threshold T1 to global position system.If satisfied, jumping step
Rapid 13.Otherwise, then jump procedure 14.
Step 13: global position system enters dormant state, sleep time T3.Dormant state only has PDR work, direction
Information is the direction that global position system provides before entering dormant state (gyroscope corrects PDR course heading).Merge position
Information is the location information that PDR is individually exported.Jump procedure 15.
Step 14: while global position system location information and PDR location information are recorded, fusion location information is satellite
The weighted value of position system and both PDR.Jump procedure 15.
Step 15: fusion location information is input to cartographic information correction module, and output information is end user position letter
Breath.
Beneficial effects of the present invention:
The present invention distinguishes current movement state information, adaptively selected difference localization method according to speed.Satellite positioning
The work of system periodic breaks is combined with PDR, in the case where not sacrificing positioning accuracy, reduces the power consumption of equipment, is improved
Standby time.
Detailed description of the invention
A kind of Fig. 1: adaptive outdoor positioning method flow diagram of multi-source
Specific embodiment
Case study on implementation:
It is used under pedestrian outdoors state, (terminal device contains accelerometer, gyroscope to user's handheld intelligent terminal device
Sensor), global position system module is opened, then can be positioned in real time.
Accelerometer, gyro sensor sample frequency are 20Hz or 50Hz.Threshold speed V range is [3m/s, 5m/s]；
Global position system positioning stablity time T1 range is [5s, 20s]；Global position system working time T2 range be [10s,
30s]；Global position system dormancy time T3 range is [30s, 50s]；It is [5 °, 10 °] that 1 range of corner threshold value δ, which occurs,；Angle
Stablizing 2 range of δ is [2 °, 5 °]；
Groundwork process:
(1) global position system works, and judges the velocity information of output.
(2) since active user is ambulatory status, velocity information is less than the threshold speed V of setting.So remaining walking
State.
(3) after the global position system working time being greater than stable threshold T1, with the position its position information correction PDR.
(4) after the global position system working time being greater than working time T2, into suspend mode, the direction of last time is believed
Breath is as gyroscope angle value initial value.
(5) it is positioned using PDR, directional information is that global position system exports last time directional information plus gyroscope
Accumulation amount.Gyroscope accumulation amount is when the gyroscope angle value of output is greater than setting corner threshold value δ 1, then add up current gyro
Angle value is until otherwise the gyroscope angle value of output keeps the angle value of previous moment less than set angle stable threshold δ 2.
(6) when global position system dormancy time is greater than T3, global position system is started to work.
(7) it repeats (1) and arrives (6).
Claims (9)
1. a kind of adaptive outdoor positioning method of multi-source, it is characterised in that:
First according to the threshold speed V size relation of the velocity information of global position system output and setting, judge that user is place
In vehicle-mounted state or ambulatory status, then adaptively switch corresponding localization method；When being judged as ambulatory status, according to satellite
The angle value and gyroscope accumulation amount of positioning system determine direction, are then pushed away using the position of global position system and pedestrian's track
The position Weighted Fusion positioning of calculation acquires the location information of user；During the entire process of positioning, according to different status adjustments
The threshold parameter of global position system, including stablize time threshold T1, working time threshold T2, dormancy time threshold value T3.
2. threshold speed V according to claim 1, it is characterised in that:
According to the velocity information of global position system output, compared with threshold speed V size thinks when being greater than given threshold
It is currently vehicle-mounted state, is otherwise ambulatory status.
3. global position system according to claim 1 stablizes time threshold T1, it is characterised in that:
Global position system stablize time T1 refer to it is required after satellite positioning system accuracy is higher and relatively stable
Time.
4. global position system working time threshold T2 according to claim 1, it is characterised in that:
Global position system working time T2 refers to that global position system is started to work, and output has the time of location related information.
5. global position system dormancy time threshold value T3 according to claim 1, it is characterised in that:
Global position system dormancy time T3 refer to global position system close, do not export the time of related position information, this when
Between section that is to say positioning time of independent PDR.
6. Weighted Fusion positioning according to claim 1, it is characterised in that:
Dynamic adjustment weight, makes the weight of global position system from 0 to 1, weight 0 is defeated when just stable corresponding to global position system
Position weight out, weight 1 correspond to global position system will suspend mode when position weight, intermediate smooth adjustment weight.
7. gyroscope accumulation amount according to claim 1, it is characterised in that:
When the gyroscope angle value of output is greater than setting corner threshold value δ 1, then the current gyro angle value that adds up is until the top exported
Spiral shell instrument angle value is less than setting stable threshold δ 2, otherwise keeps the angle value of previous moment.
8. corner threshold value δ 1 according to claim 7, it is characterised in that:
When the angle value of gyroscope is less than the corner threshold value δ 1 of setting, then it is assumed that user does not turn to, then when front direction is with before
The direction value at one moment is equal, does not change.Otherwise it is assumed that user is turned to, then starting accumulative gyroscope angle
Value, the angle value after adding up is as current angle value.
9. stable threshold δ 2 according to claim 7, it is characterised in that:
Stable threshold δ 2 refers to after judging that user turns to, if gyroscope angle value is greater than stable threshold δ 2, then it is assumed that use
Continue accumulative gyroscope angle value, otherwise it is assumed that user does not turn again to, with previous moment direction phase also in steering procedure in family
Deng.
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Cited By (1)
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| CN110907963A (en) * | 2019-12-06 | 2020-03-24 | Oppo广东移动通信有限公司 | Satellite positioning engine control method and device and electronic equipment |
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Application publication date: 20190521 |