CN102175244A - In-building person positioning system and positioning method thereof based on inertial sensor - Google Patents
In-building person positioning system and positioning method thereof based on inertial sensor Download PDFInfo
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- CN102175244A CN102175244A CN2011100626651A CN201110062665A CN102175244A CN 102175244 A CN102175244 A CN 102175244A CN 2011100626651 A CN2011100626651 A CN 2011100626651A CN 201110062665 A CN201110062665 A CN 201110062665A CN 102175244 A CN102175244 A CN 102175244A
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Abstract
The invention discloses an in-building person positioning system and a positioning method thereof based on an inertial sensor. The system comprises a gesture position sensor and an embedded arithmetic processor, wherein the gesture position sensor is placed at an external side of a shank near an ankle joint, and is used for acquiring ankle joint motion inertial data and a three-dimensional electromagnetic compass signal; the embedded arithmetic processor is used for processing data of the gesture position sensor, calculating motion state, motion distance and motion direction and outputting the positioning result; and the embedded arithmetic processor is connected with the gesture position sensor through a USB or a RS-232 interface. With the in-building person positioning system and the positioning method thereof based on the inertial sensor, positioning sensors are not needed to be mounted in the buildings in advance, and the system for positioning the person in the building can be implemented by only wearing the gesture position sensor and the embedded arithmetic processor on human body. The product is portable, and total weight of system hardware in the product is not more than 500 g, so that the product is convenient to wear; and the positioning error of the product is less than 5%, and the product can continuously work for 3 hours by using a built-in battery. In comparison with the a positioning system for which a sensor is prearranged in the building, the in-building person positioning system is greatly low in cost.
Description
Technical field
The present invention relates to personnel location system in a kind of buildings, particularly a kind of nothing is the personnel location system of installing and locating sensor and method in buildings in advance.
Background technology
Because building interior does not have gps signal, so can not adopt gps system to solve personnel positioning problem in the building.Current, in the building or mine personnel positioning system mainly contain RFID location, WIFI location, UWB location etc., this type of positioning system is a large amount of alignment sensors of installation in building or in the mine in advance, and the Precise Installation Position of detail record all the sensors.When personnel carried positioning label and enter this interior of building, certain or some sensor sensings started the located in connection handling procedure and judges the personnel present position during to positioning label, finishes personnel positioning and handles.
It is simple that this type of positioning system and localization method have an algorithm, the bearing accuracy advantage of higher.But the construction costs of system is very high, and system's daily operation management expense costliness.In addition, in case building interior fire, power failure or other accidents, the very possible all or part of paralysis of positioning system, personnel positioning can't realize.
Summary of the invention
In order to solve the problem of above-mentioned existence, the invention provides a kind of portable personnel location system and localization method that need not in advance at the interior of building sensor installation.
The objective of the invention is to be achieved through the following technical solutions:, it is characterized in that this system comprises based on personnel location system in the buildings of inertial sensor:
An attitude orientation sensor is placed on the shank outside near ankle-joint, is used to gather ankle motion inertial data and 3 D electromagnetic compass signal;
An embedded arithmetic processor is used to handle the attitude orientation sensing data, calculates motion state, move distance and direction of motion, and positioning result is shown;
Described embedded arithmetic processor is connected by USB or RS-232 interface with the attitude orientation sensor.
A kind of localization method based on personnel location system in the buildings of inertial sensor, concrete steps are as follows:
(1) attitude orientation sensor acquisition data;
(2) all data of attitude orientation sensor acquisition are carried out denoising Processing;
(3) according to the foothold in each step of angular velocity threshold decision human body walking, separate data stream with this;
(4) form data segment after each step separates;
(5) each segment data after separating is carried out the PCA pivot analysis, extract gait feature;
(6) based on support vector machine gait feature is discerned, judged that by the classification of gait is handled human body is in the level road walking or goes upstairs or go downstairs;
(7) if the horizontal acceleration integral operation is then carried out in the level road walking, obtain the average velocity of step motion, again average velocity be multiply by a step run duration and obtain a step tangential movement distance;
If go upstairs, then carry out level and climb acceleration integral operation, obtain the average velocity of a step level and vertical movement, again average velocity be multiply by a step run duration and obtain a step tangential movement distance and a vertical movement distance;
If go downstairs, then carry out level and the computing of decline integrated acceleration, obtain the average velocity of a step level and vertical movement, again average velocity be multiply by a step run duration and obtain a step tangential movement distance and a vertical movement distance;
(8) at the data segment after each step separation of step (4) formation, utilize pitching, roll, inclination data correction attitude orientation sensor to spread out of the 3 D electromagnetic compass signal, determine a step direction of motion;
(9) will show by the step move distance and the direction of motion result that draw of step (7), step (8), finish a step location.
Beneficial effect of the present invention: adopt positioning system of the present invention and localization method, can need not in advance at interior of building installing and locating sensor, only on human body, wear attitude orientation sensor and embedded arithmetic processor and just can realize system the personnel positioning of interior of building.This product has portable characteristics, and the system hardware general assembly (TW) is no more than 500g, and it is convenient to dress, and positioning error is less than 5%, but utilizes the internal battery continuous working 3 hours.Compare the building in advance the positioning system cost of placement sensor reduce greatly.
Description of drawings
Fig. 1 is a positioning system structural representation of the present invention.
Fig. 2 is a positioning system utilization structure synoptic diagram of the present invention.
Fig. 3 is a positioning system program flow diagram of the present invention.
Embodiment
Based on personnel location system in the buildings of inertial sensor, comprise attitude orientation sensor 1, its manufacturer is: the Xsens model is: MTX, embedded arithmetic processor 2, its manufacturer is: Shenzhen is extensively interrogated communicate via communication Science and Technology Ltd. model and is: VILIV-S5, embedded arithmetic processor 1 is connected by USB or RS-232 data line 5 interfaces with attitude orientation sensor 2.Embedded arithmetic processor 1 is powered by built-in power with attitude orientation sensor 2.
A kind of localization method that adopts above-mentioned based on personnel location system in the buildings of inertial sensor, concrete steps are as follows:
(1) attitude orientation sensor acquisition data;
(2) all data of attitude orientation sensor acquisition are carried out denoising Processing;
(3) according to the foothold in each step of angular velocity threshold decision human body walking, separate data stream with this;
(4) form data segment after each step separates;
(5) each segment data after separating is carried out the PCA pivot analysis, extract gait feature;
(6) based on support vector machine (SVM) gait feature is discerned, judged that by the classification of gait is handled human body is in the level road walking or goes upstairs or go downstairs;
(7) if the horizontal acceleration integral operation is then carried out in the level road walking, obtain the average velocity of step motion, again average velocity be multiply by a step run duration and obtain a step tangential movement distance;
If go upstairs, then carry out level and climb acceleration integral operation, obtain the average velocity of a step level and vertical movement, again average velocity be multiply by a step run duration and obtain a step tangential movement distance and a vertical movement distance;
If go downstairs, then carry out level and the computing of decline integrated acceleration, obtain the average velocity of a step level and vertical movement, again average velocity be multiply by a step run duration and obtain a step tangential movement distance and a vertical movement distance;
(8) at the data after each step separation of step (4) formation, utilize pitching, roll, inclination data correction attitude orientation sensor to spread out of the 3 D electromagnetic compass signal, determine a step direction of motion;
(9) will show by the step move distance and the direction of motion result that draw of step (7), step (8), finish a step location.
During use attitude orientation sensor 1 is placed in the elastic force fixed band 3, elastic force fixed band 3 is fixed on foot, attitude orientation sensor 1 is positioned at the shank outside near ankle, embedded arithmetic processor 2 is placed in the elastic waistbelt 4, elastic waistbelt 4 is lain between waist, gather the motional inertia data and the 3 D electromagnetic compass signal such as acceleration, angular velocity, pitching, roll, inclination angle of ankle motion by attitude orientation sensor 1; Data by embedded arithmetic processor 2 processing attitude orientation sensors 1 calculate foot motion state, move distance and direction of motion, and result of calculation are shown.
Claims (2)
1. based on personnel location system in the buildings of inertial sensor, it is characterized in that this system comprises:
An attitude orientation sensor is placed on the shank outside near ankle-joint, is used to gather ankle motion inertial data and 3 D electromagnetic compass signal;
An embedded arithmetic processor is used to handle the attitude orientation sensing data, calculates motion state, move distance and direction of motion, and positioning result is shown;
Described embedded arithmetic processor is connected by USB or RS-232 interface with the attitude orientation sensor.
2. localization method based on personnel location system in the buildings of inertial sensor as claimed in claim 1 is characterized in that concrete steps are as follows:
(1) attitude orientation sensor acquisition data;
(2) all data of attitude orientation sensor acquisition are carried out denoising Processing;
(3) according to the foothold in each step of angular velocity threshold decision human body walking, separate data stream with this;
(4) form data segment after each step separates;
(5) each segment data after separating is carried out the PCA pivot analysis, extract gait feature;
(6) based on support vector machine gait feature is discerned, judged that by the classification of gait is handled human body is in the level road walking or goes upstairs or go downstairs;
(7) if the horizontal acceleration integral operation is then carried out in the level road walking, obtain the average velocity of step motion, again average velocity be multiply by a step run duration and obtain a step tangential movement distance;
If go upstairs, then carry out level and climb acceleration integral operation, obtain the average velocity of a step level and vertical movement, again average velocity be multiply by a step run duration and obtain a step tangential movement distance and a vertical movement distance;
If go downstairs, then carry out level and the computing of decline integrated acceleration, obtain the average velocity of a step level and vertical movement, again average velocity be multiply by a step run duration and obtain a step tangential movement distance and a vertical movement distance;
(8) at the data segment after each step separation of step (4) formation, utilize pitching, roll, inclination data correction attitude orientation sensor to spread out of the 3 D electromagnetic compass signal, determine a step direction of motion;
(9) will show by the step move distance and the direction of motion result that draw of step (7), step (8), finish a step location.
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Cited By (12)
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| CN103068043A (en) * | 2013-01-23 | 2013-04-24 | 四川长虹佳华信息产品有限责任公司 | Indoor accurately positioning method based on wireless fidelity (WIFI) and acceleration sensor |
| CN103142235A (en) * | 2013-03-08 | 2013-06-12 | 南京医科大学 | Magnetic positioning gait analysis system |
| CN104501801A (en) * | 2014-12-31 | 2015-04-08 | 中国电子科技集团公司第二十九研究所 | Indoor location method |
| CN104864872A (en) * | 2015-06-05 | 2015-08-26 | 吉林大学 | Indoor positioning system capable of realizing judgment through actions |
| CN104990552A (en) * | 2015-07-01 | 2015-10-21 | 南京大学 | Indoor positioning system and positioning method based on footstep perception |
| CN105074381A (en) * | 2013-01-21 | 2015-11-18 | 可信定位股份有限公司 | Method and apparatus for determination of misalignment between device and pedestrian |
| CN105415396A (en) * | 2015-12-18 | 2016-03-23 | 青岛海蓝康复器械有限公司 | Motion parameter detection method for joint cascade system and joint cascade system |
| CN105806343A (en) * | 2016-04-19 | 2016-07-27 | 武汉理工大学 | Indoor 3D positioning system and method based on inertial sensor |
| CN107260179A (en) * | 2017-06-08 | 2017-10-20 | 朱翔 | Human body motion tracking method based on inertia and body-sensing sensing data quality evaluation |
| CN108603767A (en) * | 2016-01-25 | 2018-09-28 | 贝泰米亚公司 | 3D geographic positioning systems |
| CN109827568A (en) * | 2019-01-29 | 2019-05-31 | 东北大学秦皇岛分校 | Pedestrian level location estimation method in tier building based on MEMS sensor |
| CN114511959A (en) * | 2021-12-24 | 2022-05-17 | 宁波圣达智能科技有限公司 | Bank business bank static electricity removing method, system, storage medium and intelligent terminal |
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| CN108603767A (en) * | 2016-01-25 | 2018-09-28 | 贝泰米亚公司 | 3D geographic positioning systems |
| CN108603767B (en) * | 2016-01-25 | 2022-11-25 | 贝泰米亚公司 | 3D geographical position positioning system |
| CN105806343B (en) * | 2016-04-19 | 2018-05-22 | 武汉理工大学 | Indoor 3D alignment systems and method based on inertial sensor |
| CN105806343A (en) * | 2016-04-19 | 2016-07-27 | 武汉理工大学 | Indoor 3D positioning system and method based on inertial sensor |
| CN107260179A (en) * | 2017-06-08 | 2017-10-20 | 朱翔 | Human body motion tracking method based on inertia and body-sensing sensing data quality evaluation |
| CN109827568A (en) * | 2019-01-29 | 2019-05-31 | 东北大学秦皇岛分校 | Pedestrian level location estimation method in tier building based on MEMS sensor |
| CN114511959A (en) * | 2021-12-24 | 2022-05-17 | 宁波圣达智能科技有限公司 | Bank business bank static electricity removing method, system, storage medium and intelligent terminal |
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Application publication date: 20110907 |