CN104061934A - Pedestrian indoor position tracking method based on inertial sensor - Google Patents
Pedestrian indoor position tracking method based on inertial sensor Download PDFInfo
- Publication number
- CN104061934A CN104061934A CN201410255619.7A CN201410255619A CN104061934A CN 104061934 A CN104061934 A CN 104061934A CN 201410255619 A CN201410255619 A CN 201410255619A CN 104061934 A CN104061934 A CN 104061934A
- Authority
- CN
- China
- Prior art keywords
- pdr
- pedestrian
- course angle
- angle
- inertial sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
Abstract
The invention discloses a pedestrian indoor position tracking method based on an inertial sensor, relates to a pedestrian indoor position tracking method and particularly relates to a PDR (precision depth recorder) method and a PF fusion map information algorithm based on the inertial sensor. The pedestrian indoor position tracking method disclosed by the invention is used for solving the conditions such as great position estimation errors and even wrong estimation, and the like caused by long-time drift performance of the inertial sensor when only the PDR is used for tracking the pedestrian position. The method comprises the following steps of I. detecting steps and estimating step length according to an acceleration sensor; II. estimating a course angle according to the change of three-axle angular velocity in measured data of a gyroscope, correcting the course angle, carrying out course calculation according to the corrected course angle and the step length of the first step; and finally, estimating the position according to the step length and the course angle through the PDR method; and III. fusing map information with the PDR estimation by particle filtering to complete the pedestrian indoor position tracking method based on the inertial sensor. The pedestrian indoor position tracking method disclosed by the invention is applied to the technical field of indoor positioning.
Description
Technical field
The present invention relates to a kind of pedestrian's indoor location tracking, the PDR method and the PF that are specifically related to based on inertial sensor merge cartographic information algorithm.
Background technology
In recent years, the development of microelectromechanical systems (Micro-ElectroMechanical Systems, MEMS), made inertial sensor be popularized in the application of intelligent mobile terminal.Pedestrian's indoor navigation system based on inertial sensor, without the low-cost advantage of laying outside plant, becomes research popular with it gradually.The ultimate principle of this system is to adopt pedestrian's dead reckoning (PDR, Pedestrian Dead-Reckoning), according to the measurement data of inertial sensor (as accelerometer, gyroscope), be mainly concerned with inspection step, estimate the technology such as step-length, estimated course angle, therefore this system is sometimes also referred to as SHSs (Step-and-Heading Systems).What adopt in early days is wearable device, by installation of sensors in shoes, the helmet, be placed in pocket, waist etc., in walking, motion feature can more be reflected in foot, so can better examine step based on foot's sensor, but need to additionally purchase Special Equipment and Portable belt not, be not suitable for common pedestrian's indoor navigation system.In the process of walking, acceleration transducer can be exported certain walking feature, by measurement data is carried out to peak value detection, zero passage detection, autocorrelation matching, spectrum analysis etc., wherein one or more combine to identify each step, and latter two causes real-time not strong because of length consuming time.For step-size estimation, the most rough is, and directly to set step-length be a constant, because pedestrian has an average step length under constant speed walking, but in reality, step-length is affected by a people's height, build, the factors such as frequency of changing step, and cannot be average without exception.The formula that researchers generally accept four root sides of a minimax acceleration difference calculates, but also someone proposes other as having linear relationship based on cadence and step-length, the sensor of dressing foot adopts Zero velocity Updating (ZUPT, Zero-velocity UPdaTe), based on step-size estimation methods such as pedestrian's heights.And in course estimation, the simplest method of estimation is that sensor is fixed on to pedestrian, make sensor coordinate system and terrestrial coordinate system (compass coordinate system, N-E coordinate system) three axles coincidences, the position angle that sensor records is like this pedestrian's course angle, often by by gravity, the component on acceleration transducer three axles and magnetometer (electronic compass) calculate and try to achieve, and generally, the placement of sensor is without fixed pose (being attitude arbitrariness), this is to carry out estimated course by other method, such as Principal Component Analysis Method (PCA, Primary Components Analyze) estimated course angle.
Particle filter (PF, Particle Filter) be the filter tracking algorithm rising in the Gauss of the state model of Kalman filtering, the ungratified situation of linear hypothesis condition, it,, by using Monte Carlo method sampling maximum a posteriori to estimate, is estimated thereby approach Bayes Optimum.Current various indoor positioning is as WLAN indoor positioning, UWB indoor location, all adopt particle filter to improve positioning precision and solve multiple target tracking problem based on vision indoor positioning, inertial sensor indoor positioning etc., and merge the data of different positioning systems with particle filter, improve positioning result thereby mutually assist.Often adopt particle filter that cartographic information is joined in location estimation, information is adjusted the parameter in particle filter according to the map, thereby not only improves precision, has also prevented that the generation of the special circumstances such as through walls from appearring in tracking target.
Summary of the invention
The present invention is will solve simple use PDR pedestrian position is followed the tracks of time, cause the greatly even situation such as wrong estimation of position estimation error because of drift that inertial sensor self has when long, and the tracking of the pedestrian's indoor location based on inertial sensor is provided.
Pedestrian's indoor location tracking based on inertial sensor is realized according to the following steps:
One, examine step and step-size estimation according to acceleration transducer;
Two, change and carry out course angle estimation according to three axis angular rates in gyroscope survey data, course angle is proofreaied and correct, then carry out reckoning according to course angle and first step step-length after proofreading and correct, finally pass through PDR method estimated position according to step-length, course angle:
Wherein,
represent the PDR estimated position of k step
h
krepresent the course angle that k step is estimated, sLen
krepresent the step-length of k step;
Three, by particle filter, cartographic information and PDR estimated result are merged, completed the pedestrian's indoor location tracking based on inertial sensor.
Invention effect:
Pedestrian's location tracking method based on inertial sensor, by the inertial sensor module in smart mobile phone, pedestrian's dead reckoning position according to a preliminary estimate, then adopts particle filter algorithm to merge cartographic information, for user provides real-time position information.In pedestrian's dead reckoning realizes, a kind of inspection of the PZVT based on accekeration and time step algorithm is proposed, pass through step-size estimation, there is Excursion Characteristic when long for gyrostatic angle integration, utilizing three shaft angle degree to change mutually corrects, in experimental situation, test, position estimation error reduces relatively.Use particle filter combining cartographic information to carry out filtering to estimated position, improved to a certain extent the accuracy of position estimation.
Brief description of the drawings
Fig. 1 is the PDR theory diagram based on inertial sensor;
Fig. 2 is mobile phone sensor coordinate system, electronic compass coordinate system diagram;
Fig. 3 is based on inertial sensor pedestrian position tracking test environment schematic diagram;
Fig. 4 is Z axis accekeration and inspection step result;
Fig. 5 does not proofread and correct and proofreaies and correct rear course angle comparison diagram;
Fig. 6 uses PF and only uses the position of DR to follow the tracks of comparison diagram.
Embodiment
Embodiment one: the pedestrian's indoor location tracking based on inertial sensor of present embodiment is realized according to the following steps:
One, examine step and step-size estimation according to acceleration transducer;
Two, change and carry out course angle estimation according to three axis angular rates in gyroscope survey data, course angle is proofreaied and correct, then carry out reckoning according to course angle and first step step-length after proofreading and correct, finally pass through PDR method estimated position according to step-length, course angle:
Wherein,
represent the PDR estimated position of k step
h
krepresent the course angle that k step is estimated, sLen
krepresent the step-length of k step;
Three, by particle filter, cartographic information and PDR estimated result are merged, completed the pedestrian's indoor location tracking based on inertial sensor.
Embodiment two: present embodiment is different from embodiment one: described step 1 detailed process is as follows:
Adopt the method in peak value-null value-valley-time interval to examine step, be that every row makes a move and comprises 1 peak acceleration, 2 null values, 1 minimum acceleration, and it being reasonable to meet the time interval, is that 2~4 steps are per second according to the speed of adult's constant speed walking, set interval down and be limited to 250 milliseconds, S
0represent starting, S
i, i=1 ... 9 represent i step, and step-size estimation obtains by following formula
Wherein sLen is the step-length of estimating, acc
i, acc
averepresent respectively accekeration, average acceleration value in each step, N represents the data amount check collecting in every step.
Other step and parameter are identical with embodiment one.
Embodiment three: present embodiment is different from embodiment one or two: in described step 2, course angle method of estimation is:
First three axis angular rates around x, y, z are carried out to time integral, obtain respectively the angle of pitch, roll angle, position angle, be denoted as Pitch, Roll, Azimuth;
Adopt (3) to carry out first step correction to course angle:
heading=c
1·Pitch+c
2·Roll+c
3·Azimuth
(3) wherein, angle of pitch Pitch represents round the rotation amount of x axle, and roll angle Roll represents that, round the rotation amount of y axle, position angle Azimuth represents round the rotation amount of z tri-axles, wherein c
1, c
2, c
3for corresponding weighting coefficient;
Course angle after the first step is proofreaied and correct is carried out second step correction, carries out successively smoothly, specifically calculates by following formula:
Mean () represents to average.
Other step and parameter are identical with embodiment one or two.
Embodiment four: present embodiment is different from one of embodiment one to three: described step 3 pass through particle filter by as follows to cartographic information and PDR estimated result fusion method:
Particle filter is a kind of Bayes's filtering method that adopts monte carlo method to approach posterior probability, does not require that kinematic system is linearity or Gauss;
The state equation of the particle filter one, adopting is:
Wherein, x
k, y
kposition coordinates while representing k step, x
k-1, y
k-1represent the position coordinates of k-1 step, h
kthe course angle estimating,
for step-size estimation error,
for course angle estimation error, l
krepresent?, sin (), cos () represents to ask respectively sine value, the cosine value of corresponding angle;
Two, all particle value of the being weighted w to k step
icalculate:
Wherein
represent the PDR estimated position of k step
the position that represents i particle of k step, σ represents the standard deviation of PDR location estimation, in the time that certain particle generating in k step is not within the scope of active position, w
iget 0 value, otherwise calculate weights according to condition_1;
Three, by particle filter, cartographic information and PDR estimated result are merged:
At all particle weighted value w that obtain k step
iafter, according to w
icalculating has been used the estimated position of the k step of particle filter:
Wherein, Np represents the particle number in k step,
represent the estimated position to i particle in k step
calculating according to formula (5), is normalization weighted value, calculates by following formula:
Particle filter is carried out in the position constantly PDR being estimated, and obtains new estimated position.
The state estimation of dynamic system is generally described by two equations, is respectively state equation: s
k=F (s
k-1, n
k-1) (9)
Observation equation: m
k=G (s
k, v
k) (10)
Wherein F (), G () is system state s
k-1, s
kfunction, s
kfor k moment state variable, m
kfor s
kobserved reading, system noise n
kwith observation noise v
kfor known separate of probability density, and with independently stochastic variable of system state;
Other step and parameter are identical with one of embodiment one to three.
Below in conjunction with embodiment is elaborated, the pedestrian's location tracking method based on inertial sensor is realized by following step:
One, examine step and step-size estimation according to acceleration transducer:
In conjunction with Fig. 2, Fig. 3, embodiment one is described in detail.The planimetric map signal of the research park 2A of Tu2Shi Harbin Institute of Technology 12 floor, follows the tracks of experiment (dark fill area in figure) in the corridor of this floor based on inertial sensor pedestrian position, and wide 3 meters of left and right, corridor, grow up approximately 90 meters.What in Fig. 3, show is in experiment test, the attitude of tester's handheld mobile phone, and mobile phone inner sensor coordinate system (Sensor coordinate system), navigation coordinate system (E-N coordinate system).
People in the process of walking, whether the acceleration change that the different parts of health can be different, but all regular, so identify and walk, or the action such as static by therefrom information extraction.Adopt the method in peak value-null value-valley-time interval (PZVT) to examine step, be that every row makes a move and comprises 1 peak acceleration, 2 null values, 1 minimum acceleration (as shown in Figure 4), and it is reasonable to meet the time interval, be that 2-4 step is per second according to the speed of adult's constant speed walking, set interval down and be limited to 250 milliseconds.Effective step that the summit box indicating of waveform detects, S
0represent starting, S
i, i=1 ... 9 represent i step.
Actual measurement PZVT inspection step algorithm is known, and the inspection step arithmetic accuracy that present embodiment adopts is substantially 100%, and flase drop, situation undetected, many inspections seldom occur.
Step-length is not only relevant with people's height, and also relevant with the factor such as cadence in walking, same person each step in walking is all variant, so step-size estimation is a very challenging problem.This patent adopts formula
Wherein sLen is the step-length of estimating, acc
i, acc
averepresent respectively accekeration, average acceleration value in each step, k is coefficient corresponding to each method, value 1.07 of the present invention, and N represents the data amount check collecting in a step.
Two, carry out course angle estimation according to gyroscope survey data.Consider that in actual walking, mobile phone is not always all in above-mentioned basic poses, in the process of walking about, can be along with pedestrian's step alternately has slight swinging, and the angle disturbance causing due to center of gravity dipping and heaving etc., so adopt (3) to carry out first step correction to it:
heading=c
1·Pitch+c
2·Roll+c
3·Azimuth (2)
Wherein Pitch, Roll, Azimuth shown in corresponding diagram 2, is wherein respectively the angle of pitch, roll angle, position angle round the rotation amount of x, y, z three axles respectively, is denoted as Pitch, Roll, Azimuth, c
1, c
2, c
3for corresponding weighting coefficient, need in actual scene, test and obtain, in this experiment, assignment is c
1=1, c
2=0.3, c
3=0.1.On this basis the angle obtaining is carried out to second step correction, carry out successively level and smooth, be mainly in order to prevent that thereby the course angle precision in a certain step from appearring affecting in jagged value, but smoothly only limit to straight line moving or more stable process, as the horizontal segment of the curve in Fig. 5, specifically calculate by following formula
Wherein, mean () represents to average.
Three, by particle filter, cartographic information and PDR estimated result are merged.Simplify motion model with respect to Kalman filtering (KF, Kalman Filtering), thereby try to achieve optimum solution, particle filter is not simplified model, but the suboptimal solution of direct calculation of complex motion model, thereby approach gradually optimum solution.Particle filter is a kind of Bayes's filtering method that adopts monte carlo method to approach posterior probability, and not needing to set motion model is the starting condition such as linear model.
The state estimation of dynamic system is generally described by two equations, is respectively
State equation: s
k=F (s
k-1, n
k-1) (9)
Observation equation: m
k=G (s
k, v
k) (10)
Wherein F (), G () is system state s
k-1, s
kfunction, s
kfor k moment state variable, m
kfor s
kobserved reading, system noise n
kwith observation noise v
kfor known separate of probability density, and with independently stochastic variable of system state.
The state equation of the particle filter adopting in present embodiment is
Wherein, x
k, y
kposition coordinates while representing k step, h
kthe course angle estimating according to embodiment two,
for step-size estimation error,
for course angle estimation error, sin (), cos () represents to ask respectively sine value, the cosine value of corresponding angle.
Wherein
represent the PDR estimated position of k step
the position that represents i particle of k step, σ represents the standard deviation of PDR location estimation.In the time that certain particle generating in k step is not within the scope of active position (such as the situation such as through walls), w
iget 0 value, otherwise calculate weights according to condition_1.
Specific implementation process is: a first given initial position (0, 0), whether then detect is an effectively step, if, estimate that this is step by step long, course angle, according to step-length, course angle is estimated rough position by PDR, in conjunction with random 100 particles that produce (all needing to regenerate in each step), calculate the position of particle, then calculate the weights of each particle according to the condition of (8), all particle position weighted sums are obtained to the filtered position of PF, then repeat above process and carry out the next position estimation, each step of double counting is put like this, realize pedestrian's position has been followed the tracks of.
Four, the last NEXUS5 smart mobile phone image data of passing through in the experimental situation shown in Fig. 3 (is placed attitude according to the mobile phone in Fig. 2, tester's handheld mobile phone is the capable record data that take a round in experiment corridor), the data that collect have accekeration, magnitude of angular velocity and sampling time, then in MATLAB2012b, carry out simulation calculation, finally obtain curve as shown in Figure 6 according to proposed algorithm.Can see, be compared to and only use PDR estimated position through pedestrian's location estimation method of PZVT inspection step, course angle correction and PF fusion cartographic information, improve estimation degree of accuracy.
First a given initial position (0, 0), whether then detect is an effectively step, if, estimate that this is step by step long, course angle, according to step-length, course angle is estimated rough position by PDR, in conjunction with random 100 particles that produce (all needing to regenerate in each step), calculate the position of particle, then the condition of basis is calculated the weights of each particle, all particle position weighted sums are obtained to the filtered position of PF, then repeat above process and carry out the next position estimation, each step of double counting is put like this, realize pedestrian's position has been followed the tracks of.
Claims (4)
1. the pedestrian's indoor location tracking based on inertial sensor, is characterized in that it realizes according to the following steps:
One, examine step and step-size estimation according to acceleration transducer;
Two, change and carry out course angle estimation according to three axis angular rates in gyroscope survey data, course angle is proofreaied and correct, then carry out reckoning according to course angle and first step step-length after proofreading and correct, finally pass through PDR method estimated position according to step-length, course angle:
Wherein,
represent the PDR estimated position of k step
h
krepresent the course angle that k step is estimated, sLen
krepresent the step-length of k step;
Three, by particle filter, cartographic information and PDR estimated result are merged, completed the pedestrian's indoor location tracking based on inertial sensor.
2. according to the pedestrian's location tracking method based on inertial sensor described in claim 1, it is characterized in that described step 1 detailed process is as follows:
Adopt the method in peak value-null value-valley-time interval to examine step, be that every row makes a move and comprises 1 peak acceleration, 2 null values, 1 minimum acceleration, and it being reasonable to meet the time interval, is that 2~4 steps are per second according to the speed of adult's constant speed walking, set interval down and be limited to 250 milliseconds, S
0represent starting, S
i, i=1 ... 9 represent i step, and step-size estimation obtains by following formula
Wherein sLen is the step-length of estimating, acc
i, acc
averepresent respectively accekeration, average acceleration value in each step, N represents the data amount check collecting in every step.
3. according to the pedestrian's location tracking method based on inertial sensor described in claim 2, it is characterized in that in described step 2, course angle method of estimation is:
First three axis angular rates around x, y, z are carried out to time integral, obtain respectively the angle of pitch, roll angle, position angle, be denoted as Pitch, Roll, Azimuth;
Adopt (3) to carry out first step correction to course angle:
heading=c
1·Pitch+c
2·Roll+c
3·Azimuth (3)
Wherein, angle of pitch Pitch represents round the rotation amount of x axle, and roll angle Roll represents that, round the rotation amount of y axle, position angle Azimuth represents round the rotation amount of z tri-axles, wherein c
1, c
2, c
3for corresponding weighting coefficient;
Course angle after the first step is proofreaied and correct is carried out second step correction, carries out successively smoothly, specifically calculates by following formula:
Mean () represents to average.
4. according to the pedestrian's location tracking method based on inertial sensor described in claim 3, what it is characterized in that described step 3 passes through particle filter by as follows to cartographic information and PDR estimated result fusion method:
Particle filter is a kind of Bayes's filtering method that adopts monte carlo method to approach posterior probability, does not require that kinematic system is linearity or Gauss;
The state equation of the particle filter one, adopting is:
Wherein, x
k, y
kposition coordinates while representing k step, x
k-1, y
k-1represent the position coordinates of k-1 step, h
kthe course angle estimating,
for step-size estimation error,
for course angle estimation error, l
krepresent?, sin (), cos () represents to ask respectively sine value, the cosine value of corresponding angle;
Two, all particle value of the being weighted w to k step
icalculate:
Wherein
represent the PDR estimated position of k step
the position that represents i particle of k step, σ represents the standard deviation of PDR location estimation, in the time that certain particle generating in k step is not within the scope of active position, w
iget 0 value, otherwise calculate weights according to condition_1;
Three, by particle filter, cartographic information and PDR estimated result are merged:
At all particle weighted value w that obtain k step
iafter, according to w
icalculating has been used the estimated position of the k step of particle filter:
Wherein, Np represents the particle number in k step,
represent the estimated position to i particle in k step
calculating according to formula (5), is normalization weighted value, calculates by following formula:
Particle filter is carried out in the position constantly PDR being estimated, and obtains new estimated position.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410255619.7A CN104061934B (en) | 2014-06-10 | 2014-06-10 | Pedestrian indoor position tracking method based on inertial sensor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410255619.7A CN104061934B (en) | 2014-06-10 | 2014-06-10 | Pedestrian indoor position tracking method based on inertial sensor |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104061934A true CN104061934A (en) | 2014-09-24 |
CN104061934B CN104061934B (en) | 2017-04-26 |
Family
ID=51549762
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410255619.7A Active CN104061934B (en) | 2014-06-10 | 2014-06-10 | Pedestrian indoor position tracking method based on inertial sensor |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN104061934B (en) |
Cited By (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104613964A (en) * | 2015-01-30 | 2015-05-13 | 中国科学院上海高等研究院 | Pedestrian positioning method and system for tracking foot motion features |
CN104634345A (en) * | 2015-01-28 | 2015-05-20 | 华侨大学 | Indoor trajectory tracking method with self-adaptive step length |
CN105043393A (en) * | 2015-08-19 | 2015-11-11 | 厦门大学 | Sensor-based indoor pedestrian positioning method |
CN105115487A (en) * | 2015-05-18 | 2015-12-02 | 陈希 | Positioning and navigation method in supermarket based on information fusion |
CN105674984A (en) * | 2016-01-18 | 2016-06-15 | 上海交通大学 | Method for acquiring advancing directions of pedestrians by aid of mobile terminals without constraints |
CN105737826A (en) * | 2016-02-24 | 2016-07-06 | 中国地质大学(武汉) | Indoor positioning method for pedestrian |
CN105791379A (en) * | 2015-01-08 | 2016-07-20 | 波音公司 | System and method for using an internet of things network for managing factory production |
CN105865450A (en) * | 2016-04-19 | 2016-08-17 | 武汉理工大学 | Zero-speed update method and system based on gait |
CN105865445A (en) * | 2016-03-29 | 2016-08-17 | 全感(苏州)智能技术有限公司 | Inertial navigation indoor positioning system and use method thereof |
CN105865448A (en) * | 2016-03-18 | 2016-08-17 | 常州大学 | Indoor positioning method based on IMU |
CN105959919A (en) * | 2016-06-29 | 2016-09-21 | 宁波市由乐讯通讯科技有限公司 | Position acquisition method and system for use in wireless communication |
CN106131783A (en) * | 2016-06-29 | 2016-11-16 | 宁波市由乐讯通讯科技有限公司 | Location acquiring method and system in a kind of modified model radio communication |
CN106168485A (en) * | 2016-07-18 | 2016-11-30 | 北京方位捷讯科技有限公司 | Walking track data projectional technique and device |
CN106170124A (en) * | 2016-06-29 | 2016-11-30 | 宁波市由乐讯通讯科技有限公司 | Location acquiring method and system in a kind of radio communication based on multiple location technology |
WO2016206119A1 (en) * | 2015-06-26 | 2016-12-29 | Intel Corporation | Technologies for pedestrian dead reckoning |
CN106289282A (en) * | 2016-07-18 | 2017-01-04 | 北京方位捷讯科技有限公司 | A kind of indoor map pedestrian's track matching method |
CN106412826A (en) * | 2016-09-07 | 2017-02-15 | 清华大学 | Indoor positioning method and positioning device based on multi-source information fusion |
CN106412827A (en) * | 2016-09-09 | 2017-02-15 | 北京小米移动软件有限公司 | Positioning method and device |
CN106767821A (en) * | 2016-12-09 | 2017-05-31 | 北京羲和科技有限公司 | A kind of map match localization method and system based on particle filter |
CN106840147A (en) * | 2016-12-22 | 2017-06-13 | 武汉船舶通信研究所 | A kind of long range positioning method and system |
CN106895835A (en) * | 2015-12-17 | 2017-06-27 | 阿里巴巴集团控股有限公司 | Localization method and device |
CN107179079A (en) * | 2017-05-29 | 2017-09-19 | 桂林电子科技大学 | The indoor orientation method merged based on PDR with earth magnetism |
CN107289966A (en) * | 2016-03-30 | 2017-10-24 | 日本电气株式会社 | Method and apparatus for counting step number |
CN107302754A (en) * | 2017-05-10 | 2017-10-27 | 广东工业大学 | A kind of indoor positioning simple and easy method based on WiFi and PDR |
CN107339989A (en) * | 2017-06-23 | 2017-11-10 | 江苏信息职业技术学院 | A kind of pedestrian's indoor orientation method based on particle filter |
CN107421559A (en) * | 2017-07-19 | 2017-12-01 | 河南神州数码索贝科技有限公司 | A kind of step-recording method based on three-axis gyroscope |
CN107517499A (en) * | 2016-06-16 | 2017-12-26 | 千寻位置网络有限公司 | The localization method and its device of mobile terminal |
CN107966151A (en) * | 2017-11-22 | 2018-04-27 | 合肥工业大学 | A kind of indoor pedestrian's dead reckoning method based on multi-sensor fusion technology |
CN108072371A (en) * | 2016-11-18 | 2018-05-25 | 富士通株式会社 | Localization method, positioner and electronic equipment |
CN108120450A (en) * | 2016-11-29 | 2018-06-05 | 华为技术有限公司 | The determination methods and device of a kind of stationary state |
CN108354524A (en) * | 2017-01-26 | 2018-08-03 | 好样科技有限公司 | Automatic cleaning machine and control method thereof |
CN108845588A (en) * | 2018-06-22 | 2018-11-20 | 哈尔滨工业大学 | A kind of quadrotor Trajectory Tracking Control method based on Nonlinear Guidance |
CN108984562A (en) * | 2017-06-02 | 2018-12-11 | 四川理工学院 | A kind of exercise data statistical system and method based on Android platform |
CN109001677A (en) * | 2018-06-05 | 2018-12-14 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of mobile robot visible light localization method based on reckoning |
CN109241900A (en) * | 2018-08-30 | 2019-01-18 | Oppo广东移动通信有限公司 | Control method, device, storage medium and the wearable device of wearable device |
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 |
CN109697844A (en) * | 2017-10-20 | 2019-04-30 | 北京嘀嘀无限科技发展有限公司 | State information processing method and device |
WO2019084918A1 (en) * | 2017-11-03 | 2019-05-09 | Beijing Didi Infinity Technology And Development Co., Ltd. | System and method for determining a trajectory |
CN109883431A (en) * | 2019-02-21 | 2019-06-14 | 北京方位捷讯科技有限公司 | One kind walking appearance judgment method and system |
CN110207692A (en) * | 2019-05-13 | 2019-09-06 | 南京航空航天大学 | A kind of inertia pre-integration pedestrian navigation method of map auxiliary |
CN110487270A (en) * | 2019-08-26 | 2019-11-22 | 中国计量大学 | A kind of indoor human body localization method based on wearable Inertial Measurement Unit and infrared sensor network |
CN110579212A (en) * | 2019-08-13 | 2019-12-17 | 湘潭大学 | Indoor positioning method and device |
CN111197983A (en) * | 2020-01-15 | 2020-05-26 | 重庆邮电大学 | Three-dimensional pose measurement method based on human body distribution inertia node vector distance measurement |
CN111895997A (en) * | 2020-02-25 | 2020-11-06 | 哈尔滨工业大学 | Human body action acquisition method based on inertial sensor without standard posture correction |
CN112562077A (en) * | 2020-11-25 | 2021-03-26 | 西北工业大学 | Pedestrian indoor positioning method integrating PDR and prior map |
CN113203416A (en) * | 2021-03-19 | 2021-08-03 | 电子科技大学 | Pedestrian dead reckoning method for swing arm pedestrian |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20120003578A (en) * | 2010-07-05 | 2012-01-11 | 아주대학교산학협력단 | Indoor localization system and method |
CN102927980A (en) * | 2012-10-12 | 2013-02-13 | 深圳市宇恒互动科技开发有限公司 | Indoor positioning system and indoor positioning method based on three-dimensional multipoint wireless and micro-inertia navigation |
CN102932742A (en) * | 2012-10-12 | 2013-02-13 | 上海交通大学 | Method and system for indoor positioning based on inertial sensor and wireless signal characteristics |
WO2013186347A1 (en) * | 2012-06-15 | 2013-12-19 | Dekermendjian Johnny | Method of interior positioning of a mobile terminal and mobile terminals implementing this method |
-
2014
- 2014-06-10 CN CN201410255619.7A patent/CN104061934B/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20120003578A (en) * | 2010-07-05 | 2012-01-11 | 아주대학교산학협력단 | Indoor localization system and method |
WO2013186347A1 (en) * | 2012-06-15 | 2013-12-19 | Dekermendjian Johnny | Method of interior positioning of a mobile terminal and mobile terminals implementing this method |
CN102927980A (en) * | 2012-10-12 | 2013-02-13 | 深圳市宇恒互动科技开发有限公司 | Indoor positioning system and indoor positioning method based on three-dimensional multipoint wireless and micro-inertia navigation |
CN102932742A (en) * | 2012-10-12 | 2013-02-13 | 上海交通大学 | Method and system for indoor positioning based on inertial sensor and wireless signal characteristics |
Non-Patent Citations (8)
Title |
---|
DENG ZHONGLIANG等: ""Situation and Development Tendency of Indoor Positioning"", 《CHINA COMMUNICATIONS》 * |
FAN LI等: ""A reliable and accurate indoor localization method using phone inertial sensors"", 《PROCEEDINGS OF THE 2012 ACM CONFERENCE ON UBIQUITOUS COMPUTING》 * |
MOHAMED ATTIA等: ""Map Aided Pedestrian Dead Reckoning Using Buildings Information for Indoor Navigation Applications"", 《SCIENTIFIC RESEARCH》 * |
冯成涛等: ""基于粒子滤波的室内地图匹配算法"", 《第五届中国卫星导航学术年会电子文集-S9组合导航与导航新方法》 * |
宣秀彬: ""基于Wi-Fi和航位推算的室内定位方法研究"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
张世哲: ""基于惯性传感器和WiFi的室内定位系统的设计与实现"", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
张共愿: ""粒子滤波算法及其在惯性导航系统中的应用"", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
陈伟: ""基于GPS和自包含传感器的行人室内外无缝定位算法研究"", 《中国博士学位论文全文数据库 信息科技辑》 * |
Cited By (64)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105791379B (en) * | 2015-01-08 | 2020-06-30 | 波音公司 | System and method for managing plant production using an internet of things network |
CN105791379A (en) * | 2015-01-08 | 2016-07-20 | 波音公司 | System and method for using an internet of things network for managing factory production |
CN104634345A (en) * | 2015-01-28 | 2015-05-20 | 华侨大学 | Indoor trajectory tracking method with self-adaptive step length |
CN104613964A (en) * | 2015-01-30 | 2015-05-13 | 中国科学院上海高等研究院 | Pedestrian positioning method and system for tracking foot motion features |
CN105115487B (en) * | 2015-05-18 | 2017-09-01 | 陈希 | Positioning navigation method in a kind of supermarket based on information fusion |
CN105115487A (en) * | 2015-05-18 | 2015-12-02 | 陈希 | Positioning and navigation method in supermarket based on information fusion |
US10393540B2 (en) | 2015-06-26 | 2019-08-27 | Intel Corporation | Technologies for pedestrian dead reckoning |
WO2016206119A1 (en) * | 2015-06-26 | 2016-12-29 | Intel Corporation | Technologies for pedestrian dead reckoning |
US11199421B2 (en) | 2015-06-26 | 2021-12-14 | Intel Corporation | Technologies for pedestrian dead reckoning |
CN105043393B (en) * | 2015-08-19 | 2017-10-10 | 厦门大学 | A kind of sensor-based pedestrian's indoor orientation method |
CN105043393A (en) * | 2015-08-19 | 2015-11-11 | 厦门大学 | Sensor-based indoor pedestrian positioning method |
US10579037B1 (en) | 2015-12-17 | 2020-03-03 | Alibaba Group Holding Limited | Positioning method and apparatus |
CN106895835A (en) * | 2015-12-17 | 2017-06-27 | 阿里巴巴集团控股有限公司 | Localization method and device |
CN105674984A (en) * | 2016-01-18 | 2016-06-15 | 上海交通大学 | Method for acquiring advancing directions of pedestrians by aid of mobile terminals without constraints |
CN105737826A (en) * | 2016-02-24 | 2016-07-06 | 中国地质大学(武汉) | Indoor positioning method for pedestrian |
CN105865448A (en) * | 2016-03-18 | 2016-08-17 | 常州大学 | Indoor positioning method based on IMU |
CN105865445A (en) * | 2016-03-29 | 2016-08-17 | 全感(苏州)智能技术有限公司 | Inertial navigation indoor positioning system and use method thereof |
CN107289966A (en) * | 2016-03-30 | 2017-10-24 | 日本电气株式会社 | Method and apparatus for counting step number |
CN105865450A (en) * | 2016-04-19 | 2016-08-17 | 武汉理工大学 | Zero-speed update method and system based on gait |
CN107517499A (en) * | 2016-06-16 | 2017-12-26 | 千寻位置网络有限公司 | The localization method and its device of mobile terminal |
CN106131783A (en) * | 2016-06-29 | 2016-11-16 | 宁波市由乐讯通讯科技有限公司 | Location acquiring method and system in a kind of modified model radio communication |
CN106170124A (en) * | 2016-06-29 | 2016-11-30 | 宁波市由乐讯通讯科技有限公司 | Location acquiring method and system in a kind of radio communication based on multiple location technology |
CN105959919A (en) * | 2016-06-29 | 2016-09-21 | 宁波市由乐讯通讯科技有限公司 | Position acquisition method and system for use in wireless communication |
CN106289282A (en) * | 2016-07-18 | 2017-01-04 | 北京方位捷讯科技有限公司 | A kind of indoor map pedestrian's track matching method |
CN106168485B (en) * | 2016-07-18 | 2019-09-10 | 北京方位捷讯科技有限公司 | Walking track data projectional technique and device |
CN106168485A (en) * | 2016-07-18 | 2016-11-30 | 北京方位捷讯科技有限公司 | Walking track data projectional technique and device |
CN106412826A (en) * | 2016-09-07 | 2017-02-15 | 清华大学 | Indoor positioning method and positioning device based on multi-source information fusion |
CN106412826B (en) * | 2016-09-07 | 2019-09-17 | 清华大学 | Indoor orientation method and positioning device based on Multi-source Information Fusion |
CN106412827A (en) * | 2016-09-09 | 2017-02-15 | 北京小米移动软件有限公司 | Positioning method and device |
CN108072371B (en) * | 2016-11-18 | 2021-05-11 | 富士通株式会社 | Positioning method, positioning device and electronic equipment |
CN108072371A (en) * | 2016-11-18 | 2018-05-25 | 富士通株式会社 | Localization method, positioner and electronic equipment |
CN108120450A (en) * | 2016-11-29 | 2018-06-05 | 华为技术有限公司 | The determination methods and device of a kind of stationary state |
CN106767821A (en) * | 2016-12-09 | 2017-05-31 | 北京羲和科技有限公司 | A kind of map match localization method and system based on particle filter |
CN106840147A (en) * | 2016-12-22 | 2017-06-13 | 武汉船舶通信研究所 | A kind of long range positioning method and system |
CN108354524A (en) * | 2017-01-26 | 2018-08-03 | 好样科技有限公司 | Automatic cleaning machine and control method thereof |
CN108354524B (en) * | 2017-01-26 | 2020-08-14 | 好样科技有限公司 | Automatic cleaning machine and control method thereof |
CN107302754A (en) * | 2017-05-10 | 2017-10-27 | 广东工业大学 | A kind of indoor positioning simple and easy method based on WiFi and PDR |
CN107179079A (en) * | 2017-05-29 | 2017-09-19 | 桂林电子科技大学 | The indoor orientation method merged based on PDR with earth magnetism |
CN108984562B (en) * | 2017-06-02 | 2022-03-08 | 四川理工学院 | Motion data statistical system and method based on Android platform |
CN108984562A (en) * | 2017-06-02 | 2018-12-11 | 四川理工学院 | A kind of exercise data statistical system and method based on Android platform |
CN107339989A (en) * | 2017-06-23 | 2017-11-10 | 江苏信息职业技术学院 | A kind of pedestrian's indoor orientation method based on particle filter |
CN107421559A (en) * | 2017-07-19 | 2017-12-01 | 河南神州数码索贝科技有限公司 | A kind of step-recording method based on three-axis gyroscope |
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 |
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 |
CN109697844A (en) * | 2017-10-20 | 2019-04-30 | 北京嘀嘀无限科技发展有限公司 | State information processing method and device |
US11532063B2 (en) | 2017-10-20 | 2022-12-20 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for online to offline service |
WO2019084918A1 (en) * | 2017-11-03 | 2019-05-09 | Beijing Didi Infinity Technology And Development Co., Ltd. | System and method for determining a trajectory |
US11692829B2 (en) | 2017-11-03 | 2023-07-04 | Beijing Didi Infinity Technology And Development Co., Ltd. | System and method for determining a trajectory of a subject using motion data |
CN107966151A (en) * | 2017-11-22 | 2018-04-27 | 合肥工业大学 | A kind of indoor pedestrian's dead reckoning method based on multi-sensor fusion technology |
CN109001677A (en) * | 2018-06-05 | 2018-12-14 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of mobile robot visible light localization method based on reckoning |
CN108845588B (en) * | 2018-06-22 | 2021-05-07 | 哈尔滨工业大学 | Trajectory tracking control method of four-rotor aircraft based on nonlinear guidance |
CN108845588A (en) * | 2018-06-22 | 2018-11-20 | 哈尔滨工业大学 | A kind of quadrotor Trajectory Tracking Control method based on Nonlinear Guidance |
CN109241900A (en) * | 2018-08-30 | 2019-01-18 | Oppo广东移动通信有限公司 | Control method, device, storage medium and the wearable device of wearable device |
CN109883431A (en) * | 2019-02-21 | 2019-06-14 | 北京方位捷讯科技有限公司 | One kind walking appearance judgment method and system |
CN110207692A (en) * | 2019-05-13 | 2019-09-06 | 南京航空航天大学 | A kind of inertia pre-integration pedestrian navigation method of map auxiliary |
CN110579212A (en) * | 2019-08-13 | 2019-12-17 | 湘潭大学 | Indoor positioning method and device |
CN110579212B (en) * | 2019-08-13 | 2022-11-29 | 湘潭大学 | Indoor positioning method and device |
CN110487270A (en) * | 2019-08-26 | 2019-11-22 | 中国计量大学 | A kind of indoor human body localization method based on wearable Inertial Measurement Unit and infrared sensor network |
CN111197983A (en) * | 2020-01-15 | 2020-05-26 | 重庆邮电大学 | Three-dimensional pose measurement method based on human body distribution inertia node vector distance measurement |
CN111197983B (en) * | 2020-01-15 | 2022-12-27 | 重庆邮电大学 | Three-dimensional pose measurement method based on human body distribution inertia node vector distance measurement |
CN111895997A (en) * | 2020-02-25 | 2020-11-06 | 哈尔滨工业大学 | Human body action acquisition method based on inertial sensor without standard posture correction |
CN112562077A (en) * | 2020-11-25 | 2021-03-26 | 西北工业大学 | Pedestrian indoor positioning method integrating PDR and prior map |
CN112562077B (en) * | 2020-11-25 | 2024-01-09 | 西北工业大学 | Pedestrian indoor positioning method integrating PDR and priori map |
CN113203416A (en) * | 2021-03-19 | 2021-08-03 | 电子科技大学 | Pedestrian dead reckoning method for swing arm pedestrian |
Also Published As
Publication number | Publication date |
---|---|
CN104061934B (en) | 2017-04-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104061934A (en) | Pedestrian indoor position tracking method based on inertial sensor | |
CN104406586B (en) | Pedestrian navigation apparatus and method based on inertial sensor | |
US10267646B2 (en) | Method and system for varying step length estimation using nonlinear system identification | |
CN103968827B (en) | A kind of autonomic positioning method of wearable body gait detection | |
CN109827577B (en) | High-precision inertial navigation positioning algorithm based on motion state detection | |
CN104296750B (en) | Zero speed detecting method, zero speed detecting device, and pedestrian navigation method as well as pedestrian navigation system | |
Bai et al. | A high-precision and low-cost IMU-based indoor pedestrian positioning technique | |
CN104713554B (en) | A kind of indoor orientation method merged based on MEMS inertia devices with Android smartphone | |
CN106525066B (en) | Step counting data processing method and pedometer | |
CA2673795C (en) | System and method for tracking a moving person | |
TWI485421B (en) | Map matching device, system and method | |
US20090254276A1 (en) | Method and computer-readable storage medium with instructions for processing data in an internal navigation system | |
CN107490378B (en) | Indoor positioning and navigation method based on MPU6050 and smart phone | |
CN105241454A (en) | System and method for pedestrian navigation based on multiple sensors | |
CN107179079A (en) | The indoor orientation method merged based on PDR with earth magnetism | |
CN104931049A (en) | Movement classification-based pedestrian self-positioning method | |
CN111024075B (en) | Pedestrian navigation error correction filtering method combining Bluetooth beacon and map | |
CN105865450A (en) | Zero-speed update method and system based on gait | |
CN104197935B (en) | Indoor localization method based on mobile intelligent terminal | |
CN110057356B (en) | Method and device for positioning vehicles in tunnel | |
CN106643711A (en) | Indoor positioning method and indoor positioning system based on hand-held device | |
Hajati et al. | A wearable pedestrian localization and gait identification system using Kalman filtered inertial data | |
Wu et al. | Indoor positioning system based on inertial MEMS sensors: Design and realization | |
CN109646009A (en) | The calculation method of gait Time And Space Parameters based on portable gait analysis system | |
CN110672095A (en) | Pedestrian indoor autonomous positioning algorithm based on micro inertial navigation |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190618 Address after: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee after: Harbin University of Technology Robot Group Co., Ltd. Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: Harbin Institute of Technology |
|
TR01 | Transfer of patent right |