CN104197934B - A kind of localization method based on earth magnetism, apparatus and system - Google Patents
A kind of localization method based on earth magnetism, apparatus and system Download PDFInfo
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- CN104197934B CN104197934B CN201410444217.1A CN201410444217A CN104197934B CN 104197934 B CN104197934 B CN 104197934B CN 201410444217 A CN201410444217 A CN 201410444217A CN 104197934 B CN104197934 B CN 104197934B
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- earth magnetism
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
Abstract
The invention provides a kind of localization method based on earth magnetism, apparatus and system, this method includes：Sensing data is obtained, the sensing data includes gyro data, acceleration information and geomagnetic data；If determine mobile terminal by the gyro data to keep straight on, and determine that the displacement of the mobile terminal exceedes predetermined threshold value by the acceleration information, the mobile terminal is positioned according to the geomagnetic data in the setting time section after the predetermined threshold value.The embodiment of the present invention can be realized carries out high-precision positioning to mobile terminal indoors.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of localization method based on earth magnetism, apparatus and system.
Background technology
Prior art by being the specific location point of equipment calibration each based on low-power consumption bluetooth technology etc indoors,
Positioned according to the intensity of Bluetooth signal.For the mobile subscriber for integrating Bluetooth function, it can believe detecting bluetooth
Number when according to the intensity of Bluetooth signal come the distance of judging distance bluetooth equipment, and then extrapolate mobile subscriber position.But
It is that bluetooth equipment is expensive, and the stability of bluetooth equipment can also be affected in the space environment of complexity.
The content of the invention
The embodiment of the present invention provides a kind of localization method based on earth magnetism, apparatus and system, realizes indoors to mobile whole
End carries out high-precision positioning.
Embodiments of the invention adopt the following technical scheme that：
A kind of localization method based on earth magnetism, this method include：
Sensing data is obtained, the sensing data includes gyro data, acceleration information and geomagnetic data；
If determining mobile terminal by the gyro data as straight trip, and the shifting is determined by the acceleration information
The displacement of dynamic terminal exceedes predetermined threshold value, according to the described ground magnetic number in the setting time section after the predetermined threshold value
Positioned according to the mobile terminal.
A kind of positioner based on earth magnetism, the device include：
First acquisition module, for obtaining sensing data, the sensing data includes gyro data, acceleration information
And geomagnetic data；
First locating module, if for determining mobile terminal by the gyro data as straight trip, and added by described
Speed data determines that the displacement of the mobile terminal exceedes predetermined threshold value, during according to setting after the predetermined threshold value
Between the geomagnetic data in section the mobile terminal is positioned.
A kind of alignment system based on earth magnetism, the system include：Mobile terminal and server；Wherein,
The mobile terminal, for obtaining sensing data, the sensing data includes gyro data, acceleration information
And geomagnetic data；If determining mobile terminal by the gyro data as straight trip, and determined by the acceleration information
The displacement of the mobile terminal exceedes predetermined threshold value, and the geomagnetic data is sent into the server；
The server, the geomagnetic data exceeded for basis in the setting time section after the predetermined threshold value is to institute
Mobile terminal is stated to be positioned.
Localization method provided in an embodiment of the present invention based on earth magnetism, apparatus and system, pass through gyro data and determine movement
Terminal for straight trip and determines that the displacement of mobile terminal exceedes predetermined threshold value by acceleration information, according to beyond predetermined threshold value
The geomagnetic data in setting time section afterwards positions to mobile terminal, in the feelings without carrying out path planning to mobile terminal
Under condition, realize and high-precision positioning is carried out to mobile terminal by earth magnetism, because position fixing process is without manual intervention, therefore greatly
Reduce human cost greatly；In addition, by being tracked to the high accuracy positioning of mobile terminal, it is high-precision mobile terminal has been got
Position location, therefore the position location obtained by the embodiment of the present invention can also produce the higher indoor figure information of precision.
Brief description of the drawings
Fig. 1 is the flow chart for the localization method based on earth magnetism that one embodiment of the invention provides.
Fig. 2 is the flow chart for the localization method based on earth magnetism that another embodiment of the present invention provides.
Fig. 3 is the flow chart that embodiment illustrated in fig. 2 step 206 carries out ground magnetic orientation.
Fig. 4 is the schematic diagram of the geomagnetic data in embodiment illustrated in fig. 3.
Fig. 5 is the schematic diagram of an existing earth magnetism fragment in the earth magnetism fingerprint base in embodiment illustrated in fig. 3.
Fig. 6 is the schematic diagram of another existing earth magnetism fragment in the earth magnetism fingerprint base in embodiment illustrated in fig. 3.
Fig. 7 is the structure chart for the positioner based on earth magnetism that one embodiment of the invention provides.
Fig. 8 is the structure chart for the positioner based on earth magnetism that another embodiment of the present invention provides.
The structure chart for the alignment system based on earth magnetism that Fig. 9 is applicable by the embodiment of the present invention.
Embodiment
The localization method provided in an embodiment of the present invention based on earth magnetism, apparatus and system are carried out below in conjunction with the accompanying drawings detailed
Description.
Embodiment one：
Fig. 1 is the schematic flow sheet for the localization method based on earth magnetism that one embodiment of the invention provides；As shown in figure 1,
The embodiment of the present invention comprises the following steps：
Step 101, sensing data is obtained, wherein, sensing data includes gyro data, acceleration information and earth magnetism
Data.
Step 102, if determining mobile terminal by gyro data as straight trip, and determine movement eventually by acceleration information
The displacement at end exceedes predetermined threshold value, according to the geomagnetic data in the setting time section after predetermined threshold value to mobile terminal
Positioned.
In a step 101, can be by setting the top included by gyroscope acquisition sensing data on mobile terminals
Spiral shell data, by setting the acceleration information of acceleration transducer acquisition mobile terminal on mobile terminals, passed by earth magnetism
Sensor obtains the geomagnetic data on mobile terminal；In one embodiment, gyro data is the angular acceleration of mobile terminal；Another
In one embodiment, geomagnetic data is the magnetic line of force for the mobile terminal position that geomagnetic sensor is got in world coordinate system
In corresponding spatial value composite value, the composite value be geomagnetic data initial data.
Localization method provided in an embodiment of the present invention based on earth magnetism, determine mobile terminal for straight trip simultaneously by gyro data
And determine that the displacement of mobile terminal exceedes predetermined threshold value by acceleration information, during according to setting after predetermined threshold value
Between geomagnetic data in section mobile terminal is positioned, in the case of without carrying out path planning to mobile terminal, realize
High-precision positioning is carried out to mobile terminal by earth magnetism, because position fixing process is without manual intervention, therefore greatly reduced
Human cost；In addition, by being tracked to the high accuracy positioning of mobile terminal, the high-precision sprocket bit of mobile terminal has been got
Put, therefore can also be attached by position location and produce the higher indoor figure information of precision.
Embodiment two：
Fig. 2 is the schematic flow sheet for the localization method based on earth magnetism that another embodiment of the present invention provides；Such as Fig. 2 institutes
Show, the embodiment of the present invention comprises the following steps：
Step 201, sensing data is obtained, wherein, sensing data includes gyro data, acceleration information and earth magnetism
Data, perform step 202.
In step 201, can be moved by setting gyroscope on mobile terminals to obtain gyro data by being arranged on
Acceleration transducer in dynamic terminal obtains the acceleration information of mobile terminal, is obtained by geomagnetic sensor on mobile terminal
Geomagnetic data；In one embodiment, gyro data is the angular acceleration of mobile terminal；In another embodiment, ground magnetic number
According to the magnetic line of force of the mobile terminal position got for geomagnetic sensor in world coordinate system corresponding spatial value
Composite value, the composite value be geomagnetic data initial data.
Step 202, determine whether mobile terminal is straight trip by gyro data, if it is non-straight to detect in first position point
OK, step 203 is performed, if detecting straight trip, performs step 205.
In step 202, in one embodiment, when the angular acceleration of gyro data is less than given threshold, it is determined that moving
Dynamic terminal is in the non-straight-going state turned or turned around, when the angular acceleration of gyro data is more than the given threshold, it is determined that
Mobile terminal is in straight-going state, and non-straight-going state causes to move such as turning due to carrying the user of mobile terminal, turn around
The existing state that non-straight trip is adjusted to by straight trip of terminal.It will be appreciated by persons skilled in the art that mobile terminal due to
The straight trip that family can't be in perfect condition in carrying process, therefore determine that mobile terminal is by way of given threshold
No be in is turned or turned around, and the size of the given threshold can empirically be set.
Step 203, first location data of the mobile terminal in first position point is obtained according to geomagnetic data, performs step
204。
Step 204, will when determining that mobile terminal is converted to straight trip in second place point by non-straight trip by gyro data
The motion track of the mobile terminal between first position point and second place point obtains institute by the method for dead reckoning
Mobile terminal is in the second location data of second place point, execution step 205.
Step 205, whether the displacement for determining mobile terminal by acceleration information exceeds predetermined threshold value, if so, holding
Row step 206, if it is not, performing step 207.
In step 205, in one embodiment, mobile terminal moves 3 meters since the distance initial point position
Distance, if predetermined threshold value be 2 meters, i.e., mobile terminal is from 3 meters of the displacement of initial point position beyond predetermined threshold value 2
Rice, in such a case, in order to improve the positioning precision of mobile terminal, mobile terminal is carried out by way of geomagnetic data high
The positioning of precision.It is possible to further determine predetermined threshold value according to the positioning precision to mobile terminal, if desired to mobile terminal
Carry out higher precision positioning, can by predetermined threshold value set it is smaller, if the situation relatively low to the positioning precision of mobile terminal
Under, predetermined threshold value can be set larger, therefore the embodiment of the present invention is not particularly limited to predetermined threshold value.
Step 206, mobile terminal is positioned according to the geomagnetic data in the setting time section after predetermined threshold value.
The implementation process for carrying out high accuracy positioning to mobile terminal by earth magnetism in step 206 specifically may be referred to Fig. 3.
Step 207, mobile terminal is positioned by the method for dead reckoning.
In step 207, mobile terminal displacement without departing from predetermined threshold value in the case of, illustrate mobile terminal
Displacement is relatively short, and the method for dead reckoning can pass through to measure and move under the conditions of known to current time position
Dynamic distance and bearing, you can the position of subsequent time is extrapolated, therefore can be short-range by way of dead reckoning
In the range of realize the positioning of quick high accuracy.
Embodiment three：
Fig. 3 is the flow chart that embodiment illustrated in fig. 2 step 206 carries out ground magnetic orientation, and Fig. 4 is in embodiment illustrated in fig. 3
The schematic diagram of geomagnetic data, Fig. 5 are the signal of an existing earth magnetism fragment in the earth magnetism fingerprint base in embodiment illustrated in fig. 3
Figure, Fig. 6 are the schematic diagram of another existing earth magnetism fragment in the earth magnetism fingerprint base in embodiment illustrated in fig. 3；As shown in figure 3,
On the basis of above-mentioned embodiment illustrated in fig. 2, include following sub-step especially by the realization of ground magnetic orientation in step 206：
Step 301, the characteristic value of the geomagnetic data in the setting time section after exceeding predetermined threshold value is calculated.
In step 301,10 meters of the distance for example, mobile terminal has been kept straight in 10 seconds, then 2 meters are exceeded from mobile terminal
Start setting time section afterwards, the duration of the setting time section is, for example, 5 seconds, then mobile setting time section of order, and each
The characteristic value of geomagnetic data corresponding to being obtained in the setting time section of individual 5 seconds, in one embodiment, characteristic value is, for example, earth magnetism
The standard deviations of data, the coefficient of skew, extreme's distribution feature etc..In one embodiment, as shown in figure 4, for mobile terminal in C
Location A point in mansion is moved to the geomagnetic data of B location point collection, and each geomagnetic data is exactly that geomagnetic sensor is got
The composite value of the magnetic line of force of mobile terminal position point corresponding spatial value in world coordinate system (x/y/z), window
Part is the schematic diagram for an earth magnetism fragment for continuing 5 seconds.
Step 302, the earth magnetism fragment in earth magnetism fingerprint base is filtered according to characteristic value, obtains first order similarity
Multiple first earth magnetism fragments.
In step 302, as shown in Figure 5 and Figure 6, it is the schematic diagram of the earth magnetism fragment in earth magnetism fingerprint base, Fig. 5 is from A
Location point to the earth magnetism fragment of B location point schematic diagram, Fig. 6 be from location A point to the schematic diagram of the earth magnetism fragment of location of C point,
Certainly, it will be appreciated by persons skilled in the art that can have a plurality of earth magnetism fragment in earth magnetism fingerprint base, the embodiment of the present invention is only
The shape of earth magnetism fragment in earth magnetism fingerprint base is shown by Fig. 5 and Fig. 6, the shape can not be formed to the embodiment of the present invention
Limitation, earth magnetism fragment can be different according to different landform.
In one embodiment, by characteristic value corresponding to the geomagnetic data in each setting time section and earth magnetism fingerprint base
In earth magnetism fragment corresponding to characteristic value be compared, for example, containing individual earth magnetism fragment more than 200 in earth magnetism fingerprint base, pass through
After characteristic value filters from more than the 200 individual earth magnetism fragment according to characteristic value, remaining 100 meet characteristic value corresponding to geomagnetic data
Earth magnetism fragment, the more similar earth magnetism fragment of characteristic value of this 100 and geomagnetic data is multiple first earth magnetism fragments, with
Geomagnetic data has first order similarity.
Step 303, multiple first earth magnetism fragments and multiple first fragments of geomagnetic data are obtained.
In step 303, in 100 earth magnetism fragments of the first order similarity obtained from above-mentioned steps 302, meter is passed through
100 earth magnetism fragments and the fragment of geomagnetic data are calculated, in one embodiment, first multiple fragment is specifically wrapped
Include Euclidean distance, DTW distances, 1/2 Euclidean distance for vacuating data.
Step 304, multiple first fragments are filtered, obtain multiple second ground magnetic sheet of second level similarity
Section.
In step 304, first multiple first fragments can be filtered according to DTW distances, for example, passing through DTW
After distance filtering, 100 earth magnetism fragments obtain first 50 multiple second earth magnetism more similar to geomagnetic data after filtering
Fragment, the plurality of second earth magnetism fragment have second level similarity with geomagnetic data.
Step 305, multiple second fragments are filtered, obtains multiple 3rd ground magnetic sheets of third level similarity
Section.
In step 305, the Euclidean distance after being vacuated to multiple second fragments according to 1/2 filters, example
Such as, after the Euclidean distance filtering after being vacuated by 1/2,50 earth magnetism fragments after filtering remaining 25 compared with geomagnetic data
Similar multiple 3rd earth magnetism fragments, the plurality of 3rd earth magnetism fragment have third level similarity with geomagnetic data.
Step 306, earth magnetism fragment corresponding to the minimal segment distance in multiple 3rd fragments is to the movement
Terminal is positioned.
Within step 306, for example, can be arranged according to Euclidean distance the fragment in multiple 3rd fragments
Sequence, mobile terminal is positioned by first earth magnetism fragment in ranking results, specifically, can be to last 25
Multiple 3rd earth magnetism fragments are ranked up according to Euclidean distance, will come position corresponding to the earth magnetism fragment of first to movement
Terminal is positioned, and ascending order is ordered as according to Euclidean distance.
In the above-described embodiments,, can in order to improve faster earth magnetism location efficiency after step 301 and step 302 is performed
To be positioned according to multiple first fragments of multiple first earth magnetism fragments and geomagnetic data to mobile terminal, for example, logical
The immediate earth magnetism fragment of characteristic value and the characteristic value of geomagnetic data crossed in multiple first fragments is carried out to mobile terminal
Positioning.
Further, in the above-described embodiments, after step 301- steps 304 are performed, bit rates are being taken into account with determining
On the premise of the precision of position, mobile terminal can be positioned according to multiple second earth magnetism fragments of second level similarity.
Further, the flow of the ground magnetic orientation in the present embodiment, can be realized on mobile terminals, can also be in network
Realized on the server of side；If realizing on mobile terminals, mobile terminal can still be realized under off-grid state to itself
Positioning, if realizing on the server, can reduce the amount of calculation of mobile terminal, it will be appreciated by persons skilled in the art that this
Localization method described in inventive embodiments can be depending on specific situation, and executive agent can not be formed to the embodiment of the present invention
Limitation.
Example IV：
Fig. 7 is the structure chart for the positioner based on earth magnetism that one embodiment of the invention provides；As shown in fig. 7, this hair
Bright embodiment includes：
First acquisition module 41, for obtaining sensing data, the sensing data includes gyro data, accelerates the number of degrees
According to this and geomagnetic data；
First locating module 42, for by the gyro data determine mobile terminal for straight trip when, if by described
Acceleration information determines that the displacement of the mobile terminal exceedes predetermined threshold value, according to the setting after the predetermined threshold value
The geomagnetic data in period positions to the mobile terminal.
In the embodiment of the present invention, the first acquisition module 41 can specifically include gyroscope, acceleration transducer, earth magnetism sensing
Device etc..First locating module 42 can be set on mobile terminals, can also be arranged on the server of network side.
Advantageous effects described in the embodiment of the present invention may refer to the advantageous effects in embodiment one, herein not
It is described in detail again.
Embodiment five：
Fig. 8 is the structure chart for the positioner based on earth magnetism that another embodiment of the present invention provides；As shown in figure 8,
On the basis of above-described embodiment four, the embodiment of the present invention also includes：
Second locating module 43, if for determining that the displacement of the mobile terminal does not surpass by the acceleration information
The predetermined threshold value is crossed, the mobile terminal is positioned by the device of dead reckoning.
Second acquisition module 44, for determining the mobile terminal in first position point by straight by the gyro data
When row is converted to non-straight trip, the mobile terminal is obtained according to the geomagnetic data and positions number the first of the first position point
According to；
3rd acquisition module 45, for determining the mobile terminal in second place point by non-by the gyro data
When straight trip is converted to straight trip, by the moving rail of the mobile terminal between the first position point and second place point
Mark obtains second location data of the mobile terminal in the second place point by the device of dead reckoning；
Using the second place point as initial point position, if by the first locating module 42 perform it is described by described plus
Speed data determines that the displacement of the mobile terminal exceedes predetermined threshold value, during according to setting after the predetermined threshold value
Between the geomagnetic data in section the mobile terminal is positioned.
Further, the first locating module 42 includes：
Computing unit 421, for calculating the geomagnetic data in the setting time section after exceeding the predetermined threshold value
Characteristic value；
First filter element 422, for being filtered according to the characteristic value to the earth magnetism fragment in earth magnetism fingerprint base, obtain
To multiple first earth magnetism fragments of first order similarity；
First positioning unit 423, for multiple first according to the multiple first earth magnetism fragment and the geomagnetic data
Fragment positions to the mobile terminal.
First acquisition unit 424, for obtaining multiple the first of the multiple first earth magnetism fragment and the geomagnetic data
Fragment；
Second filter element 425, for being filtered to the multiple first fragment, obtain second level similarity
Multiple second earth magnetism fragments；
Second positioning unit 426, for according to multiple second earth magnetism fragments of the second level similarity to the movement
Terminal is positioned；
Second acquisition unit 427, for obtaining multiple the second of the multiple second earth magnetism fragment and the geomagnetic data
Fragment；
3rd filter element 428, for being filtered to the multiple second fragment, obtain third level similarity
Multiple 3rd earth magnetism fragments；
3rd positioning unit 429, for the corresponding ground of minimal segment distance in the multiple 3rd fragment
Magnetic sheet section positions to the mobile terminal.
Advantageous effects described in the embodiment of the present invention may be referred to the Advantageous effect described in above-described embodiment two
Fruit, no longer it is described in detail herein.
Embodiment six：
The structure chart for the alignment system based on earth magnetism that Fig. 9 is applicable by the embodiment of the present invention；As shown in figure 9, in this hair
In bright embodiment, the alignment system in the present embodiment includes mobile terminal 61 and server 62.
Wherein, mobile terminal 61 obtain sensing data, the sensing data include gyro data, acceleration information with
And geomagnetic data；When determining mobile terminal by the gyro data to keep straight on, if determining institute by the acceleration information
The displacement for stating mobile terminal exceedes predetermined threshold value, and the geomagnetic data is sent into the server.
Server 62 is according to the geomagnetic data in the setting time section after the predetermined threshold value to the movement
Terminal is positioned.
Further, mobile terminal 61 can perform the step 201- steps 205 in above-described embodiment two, moved
After the geomagnetic data of the position point of terminal 61, geomagnetic data is sent to server 62, server 62 is by step 205, more
It is possible to further pass through the geomagnetic data pair from mobile terminal by the step 301- steps 306 in above-described embodiment three
Mobile terminal carries out the positioning of higher precision.
To sum up, the embodiment of the present invention positions by using geomagnetic data to mobile terminal, without path planning, and
Position fixing process greatly reduces human cost without manual intervention, substantially increases the data precision of positioning；In addition, by
It is high in the positioning precision of mobile terminal, by the position location point often reached to mobile terminal, it can attach and produce precision
Higher indoor figure information.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (9)
1. a kind of localization method based on earth magnetism, it is characterised in that methods described includes：
Sensing data is obtained, the sensing data includes gyro data, acceleration information and geomagnetic data；
If determining mobile terminal by the gyro data as straight trip, and the movement is determined eventually by the acceleration information
The displacement at end exceedes predetermined threshold value, according to the geomagnetic data pair in the setting time section after the predetermined threshold value
The mobile terminal is positioned；
If the displacement for determining the mobile terminal by the acceleration information passes through position of navigating not less than the predetermined threshold value
The method of reckoning positions to the mobile terminal；
When determining that the mobile terminal is converted to non-straight trip in first position point by keeping straight on by the gyro data, according to institute
State geomagnetic data and obtain first location data of the mobile terminal in the first position point；
, will be from institute when determining that the mobile terminal is converted to straight trip in second place point by non-straight trip by the gyro data
The motion track for stating the mobile terminal between first position point and second place point is obtained by the method for dead reckoning
The mobile terminal is taken in the second location data of the second place point；
Using the second place point as initial point position, if determining the movement eventually by the acceleration information described in performing
The displacement at end exceedes predetermined threshold value, according to the geomagnetic data pair in the setting time section after the predetermined threshold value
The step of mobile terminal is positioned.
2. according to the method for claim 1, it is characterised in that the setting time that the basis exceeds after the predetermined threshold value
The step of geomagnetic data in section positions to the mobile terminal includes：
Calculate the characteristic value of the geomagnetic data in the setting time section after exceeding the predetermined threshold value；
The earth magnetism fragment in earth magnetism fingerprint base is filtered according to the characteristic value, obtains multiple the first of first order similarity
Earth magnetism fragment；
The mobile terminal is entered according to the multiple first earth magnetism fragment and multiple first fragments of the geomagnetic data
Row positioning, wherein, Europe of the multiple first fragment between the multiple first earth magnetism fragment and the geomagnetic data
Family name's distance or DTW distances or 1/2 Euclidean distance for vacuating data.
3. according to the method for claim 2, it is characterised in that methods described also includes：
Obtain multiple first fragments of the multiple first earth magnetism fragment and the geomagnetic data；
The multiple first fragment is filtered, obtains multiple second earth magnetism fragments of second level similarity；
The mobile terminal is positioned according to multiple second earth magnetism fragments of the second level similarity.
4. according to the method for claim 3, it is characterised in that methods described also includes：
Multiple second fragments of the multiple second earth magnetism fragment and the geomagnetic data are obtained, wherein, the multiple
Euclidean distance or DTW distance or 1/2 of two fragments between the multiple second earth magnetism fragment and the geomagnetic data
Vacuate the Euclidean distance of data；
The multiple second fragment is filtered, obtains multiple 3rd earth magnetism fragments of third level similarity；
Multiple 3rd fragments of the multiple 3rd earth magnetism fragment and the geomagnetic data are obtained, according to the multiple 3rd
Earth magnetism fragment corresponding to minimal segment distance in fragment positions to the mobile terminal, wherein, the multiple the
Euclidean distance or DTW distance or 1/2 of three fragments between the multiple 3rd earth magnetism fragment and the geomagnetic data
Vacuate the Euclidean distance of data.
5. a kind of positioner based on earth magnetism, it is characterised in that described device includes：
First acquisition module, for obtaining sensing data, the sensing data include gyro data, acceleration information and
Geomagnetic data；
First locating module, if for determining mobile terminal by the gyro data as straight trip, and pass through the acceleration
Data determine that the displacement of the mobile terminal exceedes predetermined threshold value, according to the setting time section after the predetermined threshold value
The interior geomagnetic data positions to the mobile terminal；
Second locating module, if for determining the displacement of the mobile terminal not less than described by the acceleration information
Predetermined threshold value, the mobile terminal is positioned by the device of dead reckoning；
Second acquisition module, for determining that the mobile terminal is changed in first position point by straight trip by the gyro data
For non-straight trip when, the first location data of the mobile terminal in the first position point is obtained according to the geomagnetic data；
3rd acquisition module, for determining that the mobile terminal is turned in second place point by non-straight trip by the gyro data
When being changed to straight trip, the motion track of the mobile terminal between the first position point and second place point is passed through
The device of dead reckoning obtains second location data of the mobile terminal in the second place point；
Using the second place point as initial point position, if by passing through the acceleration described in first locating module execution
Degrees of data determines that the displacement of the mobile terminal exceedes predetermined threshold value, according to the setting time after the predetermined threshold value
The geomagnetic data in section positions to the mobile terminal.
6. device according to claim 5, it is characterised in that first locating module includes：
Computing unit, for calculating the characteristic value of the geomagnetic data in the setting time section after exceeding the predetermined threshold value；
First filter element, for being filtered according to the characteristic value to the earth magnetism fragment in earth magnetism fingerprint base, obtain first
Multiple first earth magnetism fragments of level similarity；
First positioning unit, for multiple first fragments according to the multiple first earth magnetism fragment and the geomagnetic data
The mobile terminal is positioned, wherein, the multiple first fragment be the multiple first earth magnetism fragment with it is described
Euclidean distance or DTW distances or 1/2 between geomagnetic data vacuate the Euclidean distance of data.
7. device according to claim 6, it is characterised in that first locating module also includes：
First acquisition unit, for obtain multiple first fragments of the multiple first earth magnetism fragment and the geomagnetic data away from
From；
Second filter element, for being filtered to the multiple first fragment, obtain multiple the of second level similarity
Two earth magnetism fragments；
Second positioning unit, the mobile terminal is carried out for multiple second earth magnetism fragments according to the second level similarity
Positioning.
8. device according to claim 7, it is characterised in that first locating module also includes：
Second acquisition unit, for obtain multiple second fragments of the multiple second earth magnetism fragment and the geomagnetic data away from
From, wherein, Euclidean of the multiple second fragment between the multiple second earth magnetism fragment and the geomagnetic data away from
From or DTW with a distance from or 1/2 Euclidean distance for vacuating data；
3rd filter element, for being filtered to the multiple second fragment, obtain multiple the of third level similarity
Three earth magnetism fragments；
3rd positioning unit, for obtain multiple 3rd fragments of the multiple 3rd earth magnetism fragment and the geomagnetic data away from
From earth magnetism fragment corresponding to the minimal segment distance in the multiple 3rd fragment is determined the mobile terminal
Position, wherein, Euclidean of the multiple 3rd fragment between the multiple 3rd earth magnetism fragment and the geomagnetic data away from
From or DTW with a distance from or 1/2 Euclidean distance for vacuating data.
9. a kind of alignment system based on earth magnetism, it is characterised in that the system includes：Mobile terminal and server；Wherein,
The mobile terminal, for obtaining sensing data, the sensing data include gyro data, acceleration information and
Geomagnetic data；When determining mobile terminal by the gyro data to keep straight on, if by described in acceleration information determination
The displacement of mobile terminal exceedes predetermined threshold value, and the geomagnetic data is sent into the server；If pass through the acceleration
Degrees of data determines the displacement of the mobile terminal not less than the predetermined threshold value, by the method for dead reckoning to the shifting
Dynamic terminal is positioned；If by the gyro data determine the mobile terminal first position point by keep straight on be converted to it is non-
During straight trip, first location data of the mobile terminal in the first position point is obtained according to the geomagnetic data；If logical
Cross the gyro data and determine that the mobile terminal, will be from described first when second place point is converted to straight trip by non-straight trip
The motion track for putting a little mobile terminal between the point of the second place obtains the shifting by the method for dead reckoning
Second location data of the dynamic terminal in the second place point；And using the second place point as initial point position, perform institute
Determine that the displacement of the mobile terminal exceedes predetermined threshold value by the acceleration information if stating, according to beyond described default
The geomagnetic data in setting time section after threshold value positions to the mobile terminal；
The server, the geomagnetic data exceeded for basis in the setting time section after the predetermined threshold value is to the shifting
Dynamic terminal is positioned.
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| CN105928512A (en) * | 2016-04-26 | 2016-09-07 | 杭州欣晟达信息技术有限公司 | Geomagnetic field-based indoor positioning method |
| CN106092093B (en) * | 2016-05-26 | 2019-01-08 | 浙江工业大学 | A kind of indoor orientation method based on earth magnetism fingerprint matching algorithm |
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