CN101694391A - Walking navigation instrument - Google Patents
Walking navigation instrument Download PDFInfo
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- CN101694391A CN101694391A CN200910157795A CN200910157795A CN101694391A CN 101694391 A CN101694391 A CN 101694391A CN 200910157795 A CN200910157795 A CN 200910157795A CN 200910157795 A CN200910157795 A CN 200910157795A CN 101694391 A CN101694391 A CN 101694391A
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Abstract
The invention relates to a walking navigation instrument which is fire-new high-accuracy electronic equipment which is developed for a walker and integrates the functions of positioning, tracking, navigation and the like into a whole. The walking navigation instrument can serve for two large fields of military use and civil use and play an important supporting role for promoting the modern construction of the national defense of China, guaranteeing the national security, maintaining the security of society and guaranteeing the life security of people. The walking navigation instrument provided by the invention uses an inertial gyro angle error estimation algorithm and an inertial gyro zero speed update algorithm. The inertial gyro angle error estimation algorithm enhances the estimation accuracy of a system to the walking angle of a person, and the inertial gyro zero speed update algorithm enhances the estimation accuracy of the system to the walking distance of the person. By using the inertial gyro angle error estimation algorithm and the inertial gyro zero speed update algorithm integrally, the estimation of the system to the walking position or coordinates of the person can be more accurate. The walking navigation instrument provided by the invention can provide the precise and stable services of positioning, navigation, tracking and the like for a user at any place which can be reached by walking, and can be applied to the positioning of a single soldier in the terror counterwork of military affairs, the navigation of fire fighters in fire fighting and disaster relief, the tracking of workers in underground mines and people who are easily lost and the like.
Description
Technical field
Walking navigation instrument is that a kind of brand-new functions such as collection location, tracking and navigation for pedestrian's exploitation are the high-precision electronic equipment of one.It can serve dual-use two big fields, to promoting the China's national defense modernization construction, safeguard national security, maintain public order and ensureing that people's life safety plays important support effect.
A lot of modern applications need provide locating information accurately for the pedestrian.Present correlation technique and product exist certain deficiency at aspects such as setting accuracy and coverages.Huge fund is dropped into to this research field in numerous research institutions of US and European and high-tech company.The walking navigation instrument that the present invention proposes has overcome the deficiency of similar technology and product to a great extent, and it can provide precisely stable services such as location, navigation and tracking for the user in the place that any walking can arrive.This means that it can run well under other technology and product can not or be not suitable for the environment of work, comprise that GPS (GPS) such as indoor, city, building site are not suitable for or not workable environment.It can be applied in the military anti-terrorism individual soldier location, the navigation of the fire fighter in the fire control and disaster rescue, to wander away crowd's tracking etc. of the workman in the underground mine and Yi.This omnibearing location technology not only can satisfy above existing demands of applications, also very likely expedites the emergence of out brand-new application, and domestic and abroad market prospect is extremely broad.
Background technology
At present, the mainstream technology GPS of positioning and navigation field is since since formal input in 1993 is civilian, it becomes the topmost location navigation means of aspects such as human daily life, scientific research and commercial production, but because GPS uses the more weak satellite-signal of signal intensity, it can not or be not suitable for using in indoor, city etc. some can not look at the place of sky from ground straight, asks for an interview Fig. 1 GPS scope of application figure.Since its this significant disadvantages, a lot of relevant arising at the historic moment in order to fill up this blank technology and product.Simply introduce the characteristics of these technology below.
First kind technology is to use other radio signal except that gps satellite signal to cover the zone that GPS can not cover, and comprises mobile phone signal, WiFi signal, Zigbee signal and UWB signal etc.The mobile phone signal location technology is utilized existing mobile phone wireless network, but bearing accuracy is subjected to many-sided restriction, usually is straight line as the position of arrangement of base stations, and geometric configuration is not suitable for the location; Wireless signal purpose of design originally is that voice-and-data is not suitable for the location; Each base station does not have the clock of high level of synchronization, does not have the ability of calculating high-precision position, and the error about 50 meters is arranged usually.Micro radio networks such as WiFi, Zigbee and UWB are designed to use to the small area of hundreds of rice at tens meters, and their signal purpose of design originally also is data transmission, are not suitable for the location, so they also can't satisfy the requirement of many application.
The second class technology is to the coverage that GPS improves or the auxiliary equipment of interpolation is expanded navigation on the GPS basis, comprises D-GPS, RTK-GPS and A-GPS etc.D-GPS and RTK-GPS utilize the reference point of system outside to strengthen the bearing accuracy of GPS, and system complex involves great expense, but can not solve the problem that traditional GPS enlarges the location coverage.A-GPS utilizes the auxiliary and highly special GPS hardware of mobile portable phone network, can expand its orientation range to a certain extent, but its coverage is still limited, promptly allows to the subregion in the covering chamber, the also bearing accuracy that can only obtain to reduce greatly is probably about 30 meters.
Brand-new walking navigation instrument has overcome the difficult problem that conventional navigation techniques and above two class improvement technology cann't be solved fully, coverage extension with the location under the condition that keeps higher positioning accuracy arrives all walkings place in one's power, sees Fig. 2 walking navigation instrument scope of application figure.It uses brand-new pin to carry inertial navigation set, is equipped with cheap GPS and radio distance measuring set can select to add, can be in the inoperable environment of traditional positioning means such as indoor even basement, and stable high-precision work.System applies is asked for an interview the application example figure of Fig. 3 walking navigation instrument in the individual soldier location.
Summary of the invention
The problem to be solved in the present invention be for the pedestrian provide a kind of any walking can and scope in (comprise indoor wait for GPS inapplicable environment) the collection location that can both use, follow the tracks of and navigation is the electronic equipment of one.The present invention possesses skills, and theory is advanced, setting accuracy is high, the scope of application is extensive and simple operation and other advantages.
The present invention is made of two parts, and pin carries inertial gyroscope and mobile processing device.Pin carries inertial gyroscope in order to realize positioning function, and mobile processing device is used to control the operation and the operation of inertial gyroscope, handles the information that inertial gyroscope is reported, and calculates and estimate the position of target walking.
The technical solution used in the present invention comprises uses inertial gyroscope angular error algorithm for estimating and inertial gyroscope zero velocity update algorithm.The former has improved system to people's degree of accuracy that angle estimates of walking, and the latter has improved system to the walk degree of accuracy of distance estimations of people.The two comprehensively uses, can be so that the estimation that position or coordinate are walked to People's Bank of China by system is more accurate.
● inertial gyroscope angular error algorithm for estimating
In order to overcome the inertial gyroscope fast shortcoming of precise decreasing that takes measurement of an angle, the present invention has adopted the angular error algorithm for estimating.The offset error of inertial gyroscope angle is effectively distinguished and corrected to this algorithm, makes it can keep higher precision in long-time operation.Algorithm is according to the mankind walk characteristics and building shape characteristics, and the angle information that inertial gyroscope is measured is revised and be level and smooth, improves its degree of accuracy.For example, be quarter bend 90 degree if estimate body of wall, and measured value is 89 degree, so just 89 degree can be modified to 90 degree.
● inertial gyroscope zero velocity update algorithm
In order to overcome the fast shortcoming of inertial gyroscope measuring distance precise decreasing, the present invention proposes the zero velocity update algorithm.This algorithm periodically upgrades information such as the acceleration of inertial gyroscope and speed, effectively avoids the accumulation of measuring error, makes it can keep higher precision in long-time operation.Since the inertial gyroscope utilization to an integration of the measured value of acceleration obtain speed, quadratic integral obtains distance, so small acceleration analysis error can cause obvious speed and distance error through long playing accumulation.In order to overcome the accumulation of error, the present invention utilizes human walking characteristics, and searching out along each direction of motion speed is the zero special occasion, it is the moment that pin lands, this measured value is constantly made zero, avoided the accumulation of measuring error, increased substantially the degree of accuracy of distance estimations value.
● inertial gyroscope pin carrier technology
The key of above-mentioned zero velocity update algorithm is the zero velocity point that monitors in people's walking, for this problem, the present invention is fixed on inertial gyroscope on people's the shoes, when landing, pin can have an apparent in view pause, inertial gyroscope can accurately monitor this constantly, thereby utilization zero velocity update algorithm makes zero velocity amplitude, eliminates the accumulation of measuring error.
Description of drawings
Fig. 1 is GPS scope of application figure.As seen from the figure, GPS be not suitable for indoor and building between.
Fig. 2 is walking navigation instrument scope of application figure.As seen from the figure, walking navigation instrument is applicable to the inapplicable environment of GPS.
Fig. 3 is the application example figure of walking navigation instrument in the individual soldier location.As seen from the figure, command centre can follow the tracks of and monitor the soldier's who carries walking navigation instrument position.
Fig. 4 is an inertial gyroscope angular error algorithm for estimating synoptic diagram.As seen from the figure, the angular error of inertial gyroscope (green line) under the situation of use error algorithm for estimating not only makes system go wrong for the estimation of people's direction of travel, and the estimation that more causes walking the position for People's Bank of China goes wrong.And the angular error algorithm for estimating utilizes the body of wall shape of buildings, estimate people's track route, the angle information that inertial gyroscope is measured is revised and is level and smooth, improves the precision that angle is estimated, makes the position of evaluated error walk to(for) People's Bank of China reduce significantly more.
Embodiment
With Fig. 3 is that example is introduced the application of walking navigation instrument in the individual soldier location.Individual soldier's positioning system comprises walking navigation instrument, telecommunication equipment and General controller.The user is fixed on walking navigation instrument on the shoes, walking navigation instrument sends to positional information the General controller that is positioned at command centre by telecommunication equipment, General controller receives data, is shown to the commanding after the analyzing and processing, for commanding's reference with monitor team member's situation of taking action.
Claims (4)
1. walking navigation instrument is the high-precision electronic equipment of a kind of functions such as collection location, tracking and navigation that can use under the disabled environment of GPS for pedestrian exploitation as one.It is characterized in that using simultaneously inertial gyroscope angular error algorithm for estimating, inertial gyroscope zero velocity update algorithm and inertial gyroscope pin carrier technology to reach the purpose of location.
2. require described walking navigation according to right 1, it is characterized in that:
Inertial gyroscope angular error algorithm for estimating designs in order to overcome the inertial gyroscope fast shortcoming of precise decreasing that takes measurement of an angle.The offset error of inertial gyroscope angle is effectively distinguished and corrected to this algorithm, makes it can keep higher precision in long-time operation.Algorithm is according to the mankind walk characteristics and building shape characteristics, and the angle information that inertial gyroscope is measured is revised and be level and smooth, improves its degree of accuracy.For example, be quarter bend 90 degree if estimate body of wall, and measured value is 89 degree, so just 89 degree can be modified to 90 degree.It is characterized in that the algorithm that utilizes the building shape characteristics that the inertial gyroscope angular error is estimated and revised.
3. require described walking navigation according to right 1, it is characterized in that:
Inertial gyroscope zero velocity update algorithm designs in order to overcome the fast shortcoming of inertial gyroscope measuring distance precise decreasing.This algorithm periodically upgrades information such as the acceleration of inertial gyroscope and speed, effectively avoids the accumulation of measuring error, makes it can keep higher precision in long-time operation.Since the inertial gyroscope utilization to an integration of the measured value of acceleration obtain speed, quadratic integral obtains distance, so small acceleration analysis error can cause obvious speed and distance error through long playing accumulation.In order to overcome the accumulation of error, the present invention utilizes human walking characteristics, and searching out along each direction of motion speed is the zero special occasion, it is the moment that pin lands, this measured value is constantly made zero, avoided the accumulation of measuring error, increased substantially the degree of accuracy of distance estimations value.It is characterized in that, seek inertial gyroscope zero velocity point at the volley, the periodic algorithm that the speed of inertial gyroscope is made zero and upgrades.
4. require described walking navigation according to right 1, it is characterized in that:
Inertial gyroscope pin carrier technology designs for the key issue that solves in the above-mentioned zero velocity update algorithm, and its key issue is the zero velocity point that monitors in people's walking.The present invention is fixed on inertial gyroscope on people's the shoes, can have an apparent in view pause when pin lands, inertial gyroscope can accurately monitor this constantly, thus utilization zero velocity update algorithm, velocity amplitude is made zero, eliminate the accumulation of measuring error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910157795A CN101694391A (en) | 2009-07-28 | 2009-07-28 | Walking navigation instrument |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910157795A CN101694391A (en) | 2009-07-28 | 2009-07-28 | Walking navigation instrument |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103499354A (en) * | 2013-09-24 | 2014-01-08 | 哈尔滨工程大学 | Neyman-Pearson criterion-based zero speed detection method |
| CN103675877A (en) * | 2012-09-21 | 2014-03-26 | 东莞市泰斗微电子科技有限公司 | Scenic spot navigation system |
| CN104976997A (en) * | 2014-04-02 | 2015-10-14 | 北京自动化控制设备研究所 | Integrated design method of personal indoor navigation system |
| CN111024061A (en) * | 2019-12-27 | 2020-04-17 | 上海闻泰电子科技有限公司 | Navigation method, device, equipment and medium |
-
2009
- 2009-07-28 CN CN200910157795A patent/CN101694391A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103675877A (en) * | 2012-09-21 | 2014-03-26 | 东莞市泰斗微电子科技有限公司 | Scenic spot navigation system |
| CN103499354A (en) * | 2013-09-24 | 2014-01-08 | 哈尔滨工程大学 | Neyman-Pearson criterion-based zero speed detection method |
| CN103499354B (en) * | 2013-09-24 | 2017-01-18 | 哈尔滨工程大学 | Neyman-Pearson criterion-based zero speed detection method |
| CN104976997A (en) * | 2014-04-02 | 2015-10-14 | 北京自动化控制设备研究所 | Integrated design method of personal indoor navigation system |
| CN111024061A (en) * | 2019-12-27 | 2020-04-17 | 上海闻泰电子科技有限公司 | Navigation method, device, equipment and medium |
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Address after: 300384 Tianjin City Huayuan Industrial Zone Branch Three Road No. 811 Hua Dingzhi 6 Applicant after: Yao Ge Applicant after: Liu Tong Applicant after: Shang Jingliang Address before: Jinghai Town, Tianjin city 301600 Jinghai Huiquan District 4 ranked No. 5 Applicant before: Yao Ge Applicant before: Liu Tong Applicant before: Shang Jingliang |