CN104251702B - A kind of pedestrian navigation method measured based on relative pose - Google Patents
A kind of pedestrian navigation method measured based on relative pose Download PDFInfo
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- CN104251702B CN104251702B CN201410477615.3A CN201410477615A CN104251702B CN 104251702 B CN104251702 B CN 104251702B CN 201410477615 A CN201410477615 A CN 201410477615A CN 104251702 B CN104251702 B CN 104251702B
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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
- G01C21/10—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The present invention discloses a kind of pedestrian navigation method measured based on relative pose, is related to navigator fix field.This method includes the following steps：(1) 3 groups of relative pose measuring apparatus are installed respectively on pedestrian or so foot；(2) navigational coordinate system is determined；(3) using the electronic switch detection pedestrian mounted on left and right foot sole or so contact of the foot with ground；(4) relative pose between the foot coordinate system of left and right is measured respectively using multi-Goal Measure circuit and optical camera, and then measure relative pose when contacting ground before and after the foot of left and right twice respectively；Relative pose when contacting ground before and after the foot of left and right twice is measured respectively using 9 axis Inertial Measurement Units on the foot of left and right；(5) three groups of pose measurement results are subjected to data fusions, constantly the repeatedly pose measurement process of step (3) (5)；(6) determine that left and right foot coordinate system is respectively relative to the relative position and relative attitude of navigational coordinate system；(7) display of left and right foot travel track and its posture.
Description
Technical field
The invention belongs to technical field of navigation and positioning, are related to a kind of pedestrian navigation method measured based on relative pose.
Background technology
Pedestrian navigation provides the navigation informations such as reliable position, speed, posture in real time for pedestrian, in many lifes of people
There is very urgent demand in production activity, social activities and stress-relieving activity, research pedestrian navigation methods and techniques have extremely important
Academic significance and practical value.
Most pedestrian navigation products currently on the market, rely primarily on map match GPS positioning.The motion feature of pedestrian has
Subjectivity and randomness, majority of case be along pavement either boulevard walking or pass through deep woods, tunnel or
Pass in and out urban skyscraper area or indoors under environment, GPS signal is restricted, it is difficult to realize the lasting navigator fix of pedestrian.
And the position error of GPS is generally higher than 10 meters, and the required precision of pedestrian navigation is not achieved.
By the pedestrian navigation method of inertial navigation, although real-time location navigation lasting under any environment can be realized,
But the output of inertial navigation sensors system can only provide accurately short-term position, speed, acceleration, posture and angular speed
Estimation, measurement data include drift or offset error and noise, for a long time using deviation accumulation is had, lose the work(of navigator fix
Energy.
Invention content
In view of this, the purpose of the present invention is to provide a kind of complete autonomous pedestrian navigation sides measured based on relative pose
Method realizes pedestrian indoor and outdoor non-blind area, high accuracy positioning.This method is that relative pose measures during Spacecraft Rendezvous is docked
Thought is applied to a kind of novel navigation locating method in pedestrian navigation system.
In order to achieve the above objectives, the present invention provides following technical solution：
The present invention discloses a kind of pedestrian navigation method measured based on relative pose, is related to navigator fix field.This method
Include the following steps：(1) 3 groups of relative pose measuring apparatus are installed respectively on pedestrian or so foot；(2) navigational coordinate system is determined；
(3) using the electronic switch detection pedestrian mounted on left and right foot sole or so contact of the foot with ground；(4) using multi-Goal Measure
Circuit and optical camera measure the relative pose between the foot coordinate system of left and right respectively, and then measure respectively two before and after the foot of left and right
Relative pose during secondary contact ground；It is measured respectively before and after the foot of left and right twice using 9 axis Inertial Measurement Units on the foot of left and right
Contact relative pose during ground；(5) three groups of pose measurement results are subjected to data fusion, pedestrian's walking process is exactly continuous weight
The pose measurement process of multiple step (3)-(5)；(6) determine that left and right foot coordinate system is respectively relative to the relative position of navigational coordinate system
And relative attitude；(7) display of left and right foot travel track and its posture.
Further, relative position and opposite appearance before the relative pose measurement refers to measure pedestrian or so foot coordinate system
Relative position and relative attitude when contacting ground before and after state and pedestrian or so foot twice.
Further, it is described 3 groups of relative pose measuring apparatus on pedestrian or so foot are installed respectively to refer to：Right shoe is pacified with place
Fill 9 axis IMU Inertial Measurement Units (3 axis accelerometers, 3 axis gyroscopes, 3 axis electronic compass)；Installation at least three is surveyed on the inside of right crus of diaphragm
Away from signal Tx transmitter units；Installation at least three optical characteristic point on the inside of right crus of diaphragm；Electricity is installed in 2 positions respectively before and after right shoe bottom
Sub switch module.Left shoe installs 9 axis IMU Inertial Measurement Units (3 axis accelerometers, 3 axis gyroscopes, 3 axis electronics sieve with place
Disk)；Installation at least three distance measuring signal Rx receiving units and distance measuring signal processing unit on the inside of left foot；Installation optics on the inside of left foot
Camera；Electronic switch module is installed in 2 positions respectively before and after left shoe bottom.
Further, the navigational coordinate system refers to the inertial coodinate system of left foot before initial navigation.
Further, the electronic switch using mounted on left and right foot sole, which detects pedestrian or so contact of the foot with ground, is
Refer to：Electronic switch module is installed in 2 positions respectively before and after sole, (is opened behind sole from heel contact ground for detecting pedestrian
Close and close, front switch is opened) leave ground to entire sole contact ground (former and later two switches of sole are closed), then to heel
Face (switchs behind sole and opens, front switch is closed), and shoes leave the process of ground (two switches of sole are opened) completely.
When two feet contact ground, the measuring circuit work of triggering relative pose.
Further, the relative pose gone out between the foot coordinate system of left and right using multi-Goal Measure circuit measuring is referred to, is surveyed
Go out on the inside of right crus of diaphragm to install at least three distance measuring signal Tx transmitter units and receive list with installation at least three distance measuring signal Rx on the inside of left foot
The distance between member according to spherical equation group, calculates position coordinates of any transmitter unit of right crus of diaphragm in left foot coordinate system, by
In transmitter unit in right crus of diaphragm coordinate system coordinate it is known that so as to calculate the opposite position between right crus of diaphragm coordinate system and left foot coordinate system
It puts and relative attitude matrix.
Further, the multi-Goal Measure between the transmitter unit and receiving unit, may be used ultrasonic ranging or
Radio distance-measuring, each signal that emits mutually are distinguished using frequency division multiple access FDMA modes or time division multiple acess TDMA modes.
Further, it is described to measure the relative pose between the foot coordinate system of left and right using optical camera and refer to, mounted on a left side
Optical camera on the inside of foot carries out spark photograph to the optical characteristic point on the inside of right crus of diaphragm, measures these characteristic points in camera coordinates
System and left foot coordinate system in position coordinates, due to these optical characteristic points in right crus of diaphragm coordinate system coordinate it is known that so as to
To calculate the relative position and relative attitude matrix between right crus of diaphragm coordinate system and left foot coordinate system.
Further, the 9 axis Inertial Measurement Units using on the foot of left and right contact twice before and after measuring left and right foot respectively
Relative pose during ground refers to that, by 3 axle accelerations of Inertial Measurement Unit acquisition, 3 axis angular rates, 3 axis magnetometer datas make
Relative position and relative attitude when contacting ground before and after calculating left and right foot with inertia navigation algorithm twice.
The beneficial effects of the present invention are：(1) relative pose in Spacecraft Rendezvous docking technique is measured thought to use
In pedestrian navigation system, pedestrian's indoor and outdoor complete autonomous, non-blind area, high accuracy positioning are realized；It (2) can accurately measure or so
Business concern operating a porters' service can more accurately extract gait feature information into posture in the process.
Description of the drawings
In order to make the purpose of the present invention, technical solution and advantageous effect clearer, the present invention provides drawings described below and carries out
Explanation：
Fig. 1 is the pedestrian navigation method schematic measured based on relative pose
Fig. 2 is the pedestrian navigation device definition graph measured based on relative pose
Fig. 3 is the pedestrian navigation flow chart illustration measured based on relative pose
Specific embodiment
Below in conjunction with attached drawing, the preferred embodiment of the present invention is described in detail.
Fig. 1 is the pedestrian navigation method schematic measured based on relative pose state.As shown in the figure, pedestrian 1 left foot and
Left foot coordinate system O is built on right crus of diaphragm respectivelyL-XLYLZLWith right crus of diaphragm coordinate system OR-XRYRZR, record pedestrian and step 100 before the first step
Pedestrian's left foot coordinate system OL(0)-XL(0)YL(0)ZL(0)；When left foot is steadily parked in ground, right crus of diaphragm steps the first step and falls
201 behind ground, start the 1st relative pose and measure, measure right crus of diaphragm coordinate system OR(1)-XR(1)YR(1)ZR(1) relative to left foot
Coordinate system OL(0)-XL(0)YL(0)ZL(0) relative position V (1) and relative attitude R (1), then right crus of diaphragm is steadily parked in ground
When, after left foot steps the 1st step and lands 101, start a relative pose and measure, measure right crus of diaphragm coordinate system OR(1)-XR(1)YR
(1)ZR(1) relative to left foot coordinate system OL(1)-XL(1)YL(1)ZL(1) relative position V (2) and relative attitude R (2).With this
Analogize, left foot is steadily parked in ground, and right crus of diaphragm is stepped 203 after the i-th step and landing, measures right crus of diaphragm coordinate system OR(i)-XR(i)YR
(i)ZR(i) relative to left foot coordinate system OL(i-1)-XL(i-1)YL(i-1)ZL(i-1) relative position V (2i-1) and opposite appearance
State R (2i-1), when then right crus of diaphragm is steadily parked in ground, left foot is stepped 104 after the landing of the i-th step, measures right crus of diaphragm coordinate system OR
(i)-XR(i)YR(i)ZR(i) relative to left foot coordinate system OL(i)-XL(i)YL(i)ZL(i) relative position V (2i) and opposite appearance
State R (2i).
1st time traveling process (stepping left foot after first stepping right crus of diaphragm) is：
Ith traveling process (first step right crus of diaphragm after step left foot) be：
I+1 time traveling process (stepping left foot after first stepping right crus of diaphragm) is：
By (formula 3) and (formula 4), it is known that：
By (formula 4) and (formula 5), it is known that：
(formula 7) shows the relative pose relationship between front and rear left foot coordinate system twice, accordingly, the i-th step can be obtained
Position orientation relation between left foot coordinate system and initial left foot coordinate system, it is as follows：
RL(i) for the i-th step left foot coordinate system relative to the attitude matrix of initial left foot coordinate system, VL(i) it is the i-th step left foot
Coordinate system is relative to the relative position of initial left foot coordinate system, i.e., the origin of the i-th step left foot coordinate system is in initial left foot coordinate system
In position coordinates.
(formula 8) shows the relative pose relationship between front and rear right crus of diaphragm coordinate system twice, accordingly, the i-th step can be obtained
Position orientation relation between right crus of diaphragm coordinate system and initial left foot coordinate system, it is as follows：
RR(i) for the i-th step right crus of diaphragm coordinate system relative to the attitude matrix of initial left foot coordinate system, VR(i) it is the i-th step right crus of diaphragm
Coordinate system is relative to the relative position of initial left foot coordinate system, i.e., the origin of the i-th step right crus of diaphragm coordinate system is in initial left foot coordinate system
In position coordinates.
By position coordinates VL(i), i=1,2,3 ..., n are connected, and have just obtained the travel track of pedestrian's left foot, equally
By position coordinates VR(i), i=1,2,3 ..., n are connected, and have just obtained the travel track of pedestrian's right crus of diaphragm.RL(i), i=1,2,
3 ..., n be traveling process in, the attitude matrix of each step of left foot when being contacted with ground, RR(i), i=1,2,3 ..., n is advance
In the process, the attitude matrix of each step of right crus of diaphragm when being contacted with ground.
Fig. 2 is the pedestrian navigation device definition graph measured based on relative pose.Navigation device is by being mounted on left shoe 3
It is formed with the measuring apparatus in right shoe 4.9 axis IMU Inertial Measurement Units 40 of installation at 4 heel of right crus of diaphragm (3 axis accelerometers, 3
Axis gyroscope, 3 axis electronic compass), determine right crus of diaphragm inertial navigation coordinate system ORXRYRZR；Installation at least three ranging letter on the inside of right crus of diaphragm
Number Tx transmitter units 421,422,423；Installation at least three optical characteristic point 431,432,433 on the inside of right crus of diaphragm；Before and after right shoe bottom
Electronic switch module 410 and 411 is installed in 2 positions respectively, is contacted for detecting right crus of diaphragm from heel contact ground to entire sole
Ground, then ground is left to heel, shoes leave the process on ground completely.9 axis IMU inertia measurement lists are installed at 1 heel of left foot
First 30 (3 axis accelerometers, 3 axis gyroscopes, 3 axis electronic compass), determine left foot inertial navigation coordinate system OLXLYLZL；In left foot
At least three distance measuring signal Rx receiving units 321,322,323 are installed in side, receive signal and are sent to distance measuring signal processing unit 33, count
Any Tx transmitter units of right crus of diaphragm are calculated away from 3 receiving units 321, the distance between 322,323, any Tx transmitter units can be obtained
Position coordinates in left foot coordinate system in the case of coordinate, calculate right crus of diaphragm in known transmitter unit in right crus of diaphragm coordinate system
Coordinate system ORXRYRZRWith left foot coordinate system OLXLYLZLBetween relative position V and relative attitude matrix R；Installation light on the inside of left foot
Camera 32 is learned, for measuring position coordinates of the optical characteristic point on the inside of right crus of diaphragm in camera coordinates system and left foot coordinate system,
In known optical characteristic point in the case of coordinate, right crus of diaphragm coordinate system O is calculated in right crus of diaphragm coordinate systemRXRYRZRWith left foot coordinate
It is OLXLYLZLBetween relative position V and relative attitude matrix R；Electronic switch mould is installed in 2 positions respectively before and after left shoe bottom
Block 310 and 311 contacts ground, then leave ground, shoes to heel from heel contact ground for detecting left foot to entire sole
The process on ground is left completely.
Fig. 3 is the pedestrian navigation flow chart illustration based on multi-Goal Measure.
Step 50：Autonomous navigation device as shown in Figure 2 is installed respectively on pedestrian or so foot.
Step 51：Start to navigate, determine navigational coordinate system.
To start the left foot coordinate system before navigating as navigational coordinate system, per walking walk that a cycle mistake can be regarded as later
Journey.
Step 52：Left and right foot electronic switch state-detection gait.
Left shoe bottom former and later two electronic switches are closed, and electronic switch is first closed behind right shoe bottom, before electronic switch
After be closed, show pedestrian's left foot support ground, step right crus of diaphragm landing；Similarly, former and later two electronic switches of right shoe bottom are closed, left foot
Electronic switch is first closed behind sole, before be closed after electronic switch, show pedestrian's right crus of diaphragm support ground, step left foot landing.When double
When foot contacts ground, start relative pose measuring process 53, there are three types of relative pose measuring methods：Step 531, step 532,
Step 533.
Step 531：Relative pose based on multi-Goal Measure measures, comprising step 5311, step 5312, step 5313,
Step 5314.
Step 5311：When foot contacts ground when left and right, start multi-Goal Measure circuit, it is special to measure each ranging of right crus of diaphragm
Levy the distance between point (Tx transmitting modules) and left foot 3 or more ranging receiving unit Rx；
Step 5312：Calculate coordinate of the right crus of diaphragm ranging characteristic point in left foot coordinate system.
Step 5313：Determine the phase position and relative attitude between right crus of diaphragm coordinate system and left foot coordinate system.
Step 5314：Determine to contact before and after the foot coordinate system of left and right the relative position and relative attitude on ground twice.
Step 532：Relative pose based on optical imagery measures, and comprising step 5321, step 5322, step 5323, walks
Rapid 5324.
Step 5321：When left and right, foot contacts ground, the optical camera on left foot carries out spark photograph to right crus of diaphragm；
Step 5322：Calculate coordinate of the right crus of diaphragm optical characteristic point in left foot coordinate system.
Step 5323：Determine the phase position and relative attitude between right crus of diaphragm coordinate system and left foot coordinate system.
Step 5324：Determine to contact before and after the foot coordinate system of left and right the relative position and relative attitude on ground twice.
Step 533：Relative pose based on inertia measurement measures, and includes step 531, step 532, step 533.
Step 5331：Inertial navigation unit carries out data acquisition in real time；
Step 5332：Determine to contact before and after the foot coordinate system of left and right the relative position and relative attitude on ground twice.
Step 54：Data Fusion.
By step 531, step 532, the relative position and relative attitude that three kinds of relative pose measuring methods of step 533 are measured
Data carry out data fusion, are then further processed, and return to step 52, repeat walking process next time.
Step 55：Determine that left and right foot coordinate system is respectively relative to the relative position and relative attitude of navigational coordinate system.
The left and right foot coordinate system relative position and relative attitude that are obtained after data fusion are converted into left and right foot coordinate system phase
For the relative position and relative attitude of initial navigation coordinate system.
Step 56：The display of left and right foot travel track and its posture.
Pedestrian often steps a step, and position and the posture of pedestrian or so foot are drawn all in navigational coordinate system, is thereby realized
The real-time navigation of pedestrian.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
It crosses above preferred embodiment the present invention is described in detail, however, those skilled in the art should understand that, can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (9)
- A kind of 1. pedestrian navigation method measured based on relative pose, it is characterised in that：(1) it is installed respectively on pedestrian or so foot 3 groups of relative pose measuring apparatus；(2) navigational coordinate system is determined；(3) using the electronic switch detection row mounted on left and right foot sole Contact of people or so foot with ground；(4) left and right foot is measured respectively using multi-target radio electricity range-measuring circuit and optical camera to sit Relative pose between mark system, and then relative pose when contacting ground before and after the foot of left and right twice is measured respectively；Use left and right 9 axis Inertial Measurement Units on foot measure relative pose when contacting ground before and after the foot of left and right twice respectively；(5) by three groups of positions Appearance measurement result carries out data fusion, the constantly repeatedly pose measurement process of step (3)-(5)；(6) left and right foot coordinate system is determined It is respectively relative to the relative position and relative attitude of navigational coordinate system；(7) display of left and right foot travel track and its posture.
- 2. the pedestrian navigation method according to claim 1 measured based on relative pose, it is characterised in that：The opposite position Appearance measurement refers to, when foot contacts ground when left and right, measures the relative position between pedestrian or so foot coordinate system and opposite appearance State；Relative position between left foot coordinate system and relative attitude and row when measuring 2 contact ground before and after pedestrian's left foot The relative position and relative attitude between right crus of diaphragm coordinate system before and after people's right crus of diaphragm during 2 contact ground.
- 3. the pedestrian navigation method according to claim 1 measured based on relative pose, it is characterised in that：The opposite position Appearance measuring apparatus is mounted on pedestrian or so foot；Right shoe installs 9 axis IMU Inertial Measurement Units with place, is installed extremely on the inside of right crus of diaphragm At least three optical characteristic point is installed in few 3 distance measuring signal Tx transmitter units, right crus of diaphragm inside, and 2 positions are distinguished before and after right shoe bottom Electronic switch module is installed；Left shoe installs 9 axis IMU Inertial Measurement Units with place, and at least three distance measuring signal is installed on the inside of left foot Optical camera is installed in Rx receiving units and distance measuring signal processing unit, left foot inside, and 2 positions are installed respectively before and after left shoe bottom Electronic switch module.
- 4. the pedestrian navigation method according to claim 1 measured based on relative pose, it is characterised in that：The navigation is sat Mark system refers to the inertial coodinate system of left foot before initial navigation.
- 5. the pedestrian navigation method according to claim 1 measured based on relative pose, it is characterised in that：Left and right foot sole Electronic switch for detecting contact situation of pedestrian or so foot with ground, switch and be closed behind sole, front switch is opened When, represent that pedestrian's heel starts to contact ground；When sole former and later two switches are closed, entire sole contact ground is represented, It switchs and opens behind sole, when front switch is closed, represent that heel initially moves off ground；When two switches of sole are opened When, represent that shoes leave ground completely；When two feet contact ground, the measuring circuit work of triggering relative pose.
- 6. the pedestrian navigation method according to claim 1 measured based on relative pose, it is characterised in that：The use is more The relative pose that targeted radio range-measuring circuit is measured between the foot coordinate system of left and right refers to, measures and is installed at least on the inside of right crus of diaphragm 3 distance measuring signal Tx transmitter units and the distance between at least three distance measuring signal Rx receiving units of installation on the inside of left foot, according to Spherical equation group calculates position coordinates of any transmitter unit of right crus of diaphragm in left foot coordinate system, since transmitter unit is in right crus of diaphragm Coordinate in coordinate system is it is known that so as to calculate the relative position and relative attitude square between right crus of diaphragm coordinate system and left foot coordinate system Battle array.
- 7. the pedestrian navigation method according to claim 1 measured based on relative pose, it is characterised in that：Transmitter unit and Multi-Goal Measure circuit between receiving unit using radio distance-measuring technology, transmitting signal using frequency division multiple access FDMA modes or Person time division multiple acess TDMA modes are mutually distinguished.
- 8. the pedestrian navigation method according to claim 1 measured based on relative pose, it is characterised in that：It is described to use light It learns the relative pose that camera measurement goes out between the foot coordinate system of left and right to refer to, the optical camera on the inside of left foot is on the inside of right crus of diaphragm Optical characteristic point carry out spark photograph, measure position of these characteristic points in camera coordinates system and left foot coordinate system and sit Mark, due to these optical characteristic points in right crus of diaphragm coordinate system coordinate it is known that being sat so as to calculate right crus of diaphragm coordinate system and left foot Relative position and relative attitude matrix between mark system.
- 9. the pedestrian navigation method according to claim 1 measured based on relative pose, it is characterised in that：It is described to use a left side The relative pose that 9 axis Inertial Measurement Units on right crus of diaphragm measure when contacting ground twice before and after the foot of left and right respectively refers to, will be used Property measuring unit acquisition 3 axle accelerations, 3 axis angular rates, 3 axis magnetometer datas calculate left and right foot using inertial navigation algorithm Relative position and relative attitude during the front and rear ground of contact twice.
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| CN105699974B (en) * | 2016-01-20 | 2018-04-17 | 沈弼龙 | Intelligent locating method, intelligent positioner and intelligent positioning system |
| CN106199507A (en) * | 2016-06-15 | 2016-12-07 | 北京工业大学 | Rigid space pose based on one way frequency modulation Electromagnetic Continuous ripple directly measures system |
| CN105973264A (en) * | 2016-07-21 | 2016-09-28 | 触景无限科技（北京）有限公司 | Intelligent blind guiding system |
| CN109164830A (en) * | 2018-08-03 | 2019-01-08 | 深圳市迅驰智能电子科技有限公司 | A kind of automatic follower method of balance car and balance car |
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| CN111323048B (en) * | 2020-02-28 | 2022-03-04 | 上海航天控制技术研究所 | Performance test method and system for single relative attitude measurement machine |
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