CN104501801A - Indoor location method - Google Patents
Indoor location method Download PDFInfo
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- CN104501801A CN104501801A CN201410853977.8A CN201410853977A CN104501801A CN 104501801 A CN104501801 A CN 104501801A CN 201410853977 A CN201410853977 A CN 201410853977A CN 104501801 A CN104501801 A CN 104501801A
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- angle
- locating terminal
- dimensional surface
- scintigrams
- staff
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The invention discloses an indoor location method, relates to a location technology, and aims to provide an indoor location method without needing prior information. The method is technically characterized in that a first location terminal and a second location terminal are wore by a worker; when the worker is located at an initial position, the second location terminal acquires a 360-degree two-dimensional plane scanning chart of an indoor space; the first location terminal detects whether the worker finishes one step, and the second location terminal is informed if the worker finishes one step; after the second location terminal receives the inform, the second location terminal acquires a 360-degree two-dimensional plane scanning chart of the indoor space of the current position; the two 360-degree two-dimensional plane scanning charts are scanned and matched, so that a two-dimensional plane coordinate, relative to the initial position, of the current position of the worker is acquired.
Description
Technical field
The present invention relates to location technology, especially a kind of indoor orientation method.
Background technology
Along with the development of modern society, Development of China's Urbanization is accelerated, and buildings housing-group is also towards maximization, high stratification development, and the time of people 80%-90% is in indoor environment (containing underground, mine, tunnel etc.).These changes have increased the weight of, to the requirement of indoor location service, just to increase sharply to the demand of high-precision indoor positioning.
At present, indoor positioning technologies is of a great variety, two large classes can be divided into: 1. local indoor positioning, as WLAN (wireless local area network) (WLAN), radio-frequency (RF) tag (RFID), purple honeybee (Zigbee), bluetooth, ultra broadband (UWB), earth magnetism field intensity, infrared location, light track and localization, computer vision location, ultrasound wave location, inertial navigation location etc.; 2. wide area indoor positioning, as based on the assistant GPS (A-GPS) of mobile communications network, pseudo satellite, pseudolite, terrestrial digital communication and radio network positioning system etc.
Existing indoor positioning technologies needs prior imformation mostly, as needs dispose beaconing nodes in advance, need to set up fingerprint base etc. in advance, although inertial navigation does not need prior imformation can position yet, but independent inertial navigation precision is not high, therefore existing indoor positioning technologies cannot adapt to complicated indoor environment.
Summary of the invention
Technical matters to be solved by this invention is: for above-mentioned Problems existing, provides a kind of indoor orientation method without the need to prior imformation.
The technical solution used in the present invention comprises:
Step 1: the first locating terminal and the second locating terminal are worn on staff's health;
Step 2: staff is at initial position, and the second locating terminal carries out scanning the 360 ° of two dimensional surface scintigrams obtaining the interior space;
Step 3: whether the first locating terminal testing personnel cover a step, if cover a step, notify the second locating terminal;
Step 4: after the second locating terminal receives described notice, obtains 360 ° of two dimensional surface scintigrams of the interior space of current location;
Step 5: two 360 ° of two dimensional surface scintigrams are carried out scan matching, obtains the two dimensional surface coordinate of staff's current location relative to initial position.
Further, described second locating terminal comprises scanning range radar; Described step 2 is with step 4,360 ° of scintigrams of the interior space under the scanning range radar acquisition polar coordinates of the second location middle-end, then the polar plot that scanning range radar obtains is converted to rectangular plots thus obtains 360 ° of two dimensional surface scintigrams of the interior space.
Further, the second locating terminal also includes inertia measuring module; Described step 2 comprises further, and inertia measuring module obtains staff at the crab angle of initial position, the angle of pitch and roll angle; According to crab angle, the angle of pitch and roll angle, 360 of the described interior space ° of two dimensional surface scintigrams are carried out three-dimensional affine transformation, 360 of the described interior space ° of two dimensional surface scintigrams are transformed to 360 ° of two dimensional surface scintigrams in same level;
Described step 4 comprises further, and inertia measurement instrument obtains staff at the crab angle of current location, the angle of pitch and roll angle; According to the crab angle of current location, the angle of pitch and roll angle, 360 of the interior space of current location ° of two dimensional surface scintigrams are carried out three-dimensional affine transformation, 360 of the interior space of current location ° of two dimensional surface scintigrams are transformed to 360 ° of two dimensional surface scintigrams in same level;
Described step 5 comprises further, 360 ° of two dimensional surface scintigrams in the same level of ° two dimensional surface scintigram of 360 in initial position same level and current location are carried out scan matching, obtains the two dimensional surface coordinate of staff's current location relative to initial position.
Preferably, described second locating terminal is installed on the head of staff.
First locating terminal also comprises inertia measuring module, and is installed on the foot of staff; Described step 3 comprises further, when inertia measuring module detects that the angle of pitch in certain moment after positive peak appears in the angle of pitch of staff's foot and the difference of static angle of pitch reference value are less than a certain threshold value, then thinks that staff covers a step.
Further, also step 6 is comprised:
The inertia measuring module of the first locating terminal obtains the crab angle of current location; The inertia measuring module of the second locating terminal obtains the crab angle of current location;
The described crab angle that first locating terminal exports is converted to course, the described crab angle that the second locating terminal exports is converted to course, the course that the course export the first locating terminal and the second locating terminal export is merged, and obtains the course after merging;
Calculate the air line distance of two positions according to the two dimensional surface coordinate of current location two dimensional surface coordinate and initial position, be designated as step-length;
According to the course after merging and the two dimensional surface coordinate of the revised current location of step size computation.
Further, repeated execution of steps 3 ~ 6, obtains the event trace of staff in indoor.
Further, in described step 6, by the course input card Thalmann filter of the course of the first locating terminal and the second locating terminal, obtain the course after merging.
Further, in step 5, ICP algorithm is adopted to carry out scan matching to two 360 ° of two dimensional surface scintigrams.
Present invention achieves the high precision indoor positioning without the need to disposing beaconing nodes in advance, compare other indoor location service system, advantage of the present invention is the following aspects:
1, do not need to shift to an earlier date or deployed in real time beaconing nodes, do not limit by surrounding environment;
2, use multisensor and multi-information merging technology, positioning error can not be dispersed along with the accumulation of time, has the advantage that positioning precision is high, continuity is good.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is that the planogram data of scanning range radar output is by the conversion under polar coordinates to rectangular coordinate.
Fig. 2 is the result using ICP algorithm to carry out scan matching.
Fig. 3 is for adopting event trace and actual activity track comparison diagram in positioning work personnel space of the present invention.
Mark in figure: a is staff's initial position, b is staff's current location.
Embodiment
All features disclosed in this instructions, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Arbitrary feature disclosed in this instructions, unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object.That is, unless specifically stated otherwise, each feature is an example in a series of equivalence or similar characteristics.
A specific embodiment of the present invention comprises the following steps:
1. locating terminal I and II is worn on staff's health, in order to obtain good effect, in a preferred example, locating terminal I is worn on personnel's foot, with the change of abundant perception personnel walking, locating terminal II is worn on person head, to obtain the two dimensional surface scintigram of 360 degree.
Wherein locating terminal I is inertia measuring module; Locating terminal II comprises scanning range radar and Inertial Measurement Unit.
Inertia measuring module can the rocking and route of perception staff head or foot, comprise three-axis gyroscope, three axis accelerometer, three axle magnetometers, be worn on staff's health, locality magnetic intensity data, angular velocity data and acceleration information, geomagnetic field and the gravity magnetic field direction cosine between geographic coordinate and moving coordinate system are utilized to carry out resolving of absolute angle, and utilize Kalman filtering to merge the attitude angle obtained, finally obtain stable attitude angle, comprise crab angle, the angle of pitch, roll angle.
Attitude angle computational algorithm in inertia measuring module machine is prior art, does not repeat them here.
In crab angle in the application, the angle of pitch, roll angle and aviation field, the crab angle of aircraft, the angle of pitch, roll angle define similar, and concrete, crab angle refers to that staff's row departs from the angle of target direction (as direct north).The angle of pitch refers to the head of staff or the pitch angle in foot relative level face.The angle overturn about the head of roll angle staff or foot relative level face.
Scanning range radar generates indoor 2 d plane picture for scanning.
Step 2: staff is at initial position, and the scanning range radar of locating terminal II carries out scanning the 360 ° of two dimensional surface scintigrams obtaining the interior space.
In a preferred embodiment, first for the ease of calculating and process, the plane of scanning motion diagram data under the polar coordinates obtain scanning range radar carries out the conversion (as shown in Figure 1) under rectangular coordinate system, and formula is as follows:
x＝dis*cos(α*π/180)
y＝dis*sin(α*π/180)
(1)
Wherein α is the polar angle that each analyzing spot is corresponding, and dis is the pole span that each analyzing spot is corresponding.
Further, consider due to staff when walking, health can rock, the continuous print scintigram that scanning range radar obtains is not on a surface level, therefore rocking by the inertia measuring module perception staff's health in locating terminal II is needed, and use three-dimensional affined transformation, under scintigram is transformed to same plane.
Specific practice is:
The analyzing spot coordinate on the two dimensional surface scintigram that (if x, y, 0) is scanning range radar to be exported, be transformed into the analyzing spot coordinate on the two dimensional surface scintigram in same level for (x', y', z'), then conversion formula is as follows:
Wherein A is rotation matrix,
Wherein R
x(φ) be rotation matrix around x-axis (roll axle), R
y(θ) be rotation matrix around y-axis (pitch axis), R
z(ψ) be rotation matrix around z-axis (yaw axis),
Roll angle, the angle of pitch and crab angle that wherein in φ, θ, ψ difference locating terminal II, Inertial Measurement Unit exports.
Step 3: whether locating terminal I testing personnel cover a step, if cover a step, notify locating terminal II.
In the application, a said step refers to that this time foothold of same the pin of staff is to the distance of next foothold.
In a preferred embodiment, when the inertia measuring module in locating terminal I detects that the angle of pitch in certain moment after positive peak appears in the angle of pitch of staff's foot and the difference of static angle of pitch reference value are less than a certain threshold value, then think and foothold detected, and then think that staff covers a step.Wherein said static angle of pitch reference value can for staff is static and pin lands time the angle of pitch that is recorded to.
This is because in the process that makes a move of staff's row, first be lift pin, now the angle of pitch is a negative value, along with the carrying out of lifting pin process, the angle of pitch there will be a negative peak, lift pin afterwards, the angle of pitch increases gradually, before pin lands, the angle of pitch there will be a positive peak, then reduce gradually, when pin lands, the angle of pitch equals or substantially close to static angle of pitch reference value, therefore we think when the angle of pitch occur certain moment after positive peak the angle of pitch and static time angle of pitch reference chamber difference be less than set threshold value time, such as, described threshold value can be set to 5 °, just there is foothold.Step 4: after locating terminal II receives described notice, obtains 360 ° of two dimensional surface scintigrams of the interior space of current location.Same, the preferred implementation of this step can with reference to the preferred implementation of step 2, to obtain the two dimensional surface scintigram in same level more accurately.
Step 5: two 360 ° of two dimensional surface scintigrams are carried out scan matching, obtains the two dimensional surface coordinate of staff's current location relative to initial position.
Scan matching algorithm is a lot, there are NDT (Normal DistributionTransformation) algorithm, ICP (Iterative Closest Point) algorithm etc., ICP algorithm is used in the present invention's preferred embodiment example, as shown in Figure 2, the coordinate of current location relative to initial position of staff is obtained by scan matching, the coordinate of current location in the rectangular coordinate system of initial position place in other words, and then utilize the coordinate of two positions can calculate distance between the course of current location and two positions, as walking step-length bc.
Described course refers to the line of current location and initial position and the angle of rectangular coordinate system x-axis positive dirction.According to the relation of described target direction and rectangular coordinate system, the mutual conversion of course and crab angle can be realized.
The personnel obtained by the Inertial Measurement Unit of a locating terminal are walked, and course information can generation be drifted about along with personnel's walking, causes course inaccurate, can be corrected by the course information of another locating terminal.Therefore, in other embodiments of the invention, further comprises step 6: the inertia measuring module of locating terminal I obtains the crab angle of current location; The inertia measuring module of locating terminal II obtains the crab angle of current location; The described crab angle exported by locating terminal I is converted to course, and the described crab angle exported by locating terminal II is converted to course, and the course that the course export locating terminal I and locating terminal II export is merged, and obtains the course hx after merging.Preferably, Kalman filter can be adopted to be merged in two courses, and the node that neural network training also can be adopted to obtain merges etc. two courses as weights.
According to the two dimensional surface coordinate (X ', Y ') of the course after merging and the revised current location of step size computation.
X′＝bc*sin(hx) (5)
Y′＝bc*cos(hx) (6)
Repeated execution of steps 3 ~ 6, obtains the event trace of staff in indoor.As shown in Figure 3, maximum error distance is 21.5 centimetres to the result that employing the inventive method positions.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature of disclosing in this manual or any combination newly, and the step of the arbitrary new method disclosed or process or any combination newly.
Claims (9)
1. an indoor orientation method, is characterized in that, comprising:
Step 1: the first locating terminal and the second locating terminal are worn on staff's health;
Step 2: staff is at initial position, and the second locating terminal obtains 360 ° of two dimensional surface scintigrams of the interior space;
Step 3: whether the first locating terminal testing personnel cover a step, if cover a step, notify the second locating terminal;
Step 4: after the second locating terminal receives described notice, obtains 360 ° of two dimensional surface scintigrams of the interior space of current location;
Step 5: two 360 ° of two dimensional surface scintigrams are carried out scan matching, obtains the two dimensional surface coordinate of staff's current location relative to initial position.
2. a kind of indoor orientation method according to claim 1, is characterized in that, described second locating terminal comprises scanning range radar; Described step 2 is with step 4,360 ° of scintigrams of the interior space under the scanning range radar acquisition polar coordinates of the second locating terminal, then the polar plot that scanning range radar obtains is converted to rectangular plots thus obtains 360 ° of two dimensional surface scintigrams of the described interior space.
3. a kind of indoor orientation method according to claim 2, is characterized in that, the second locating terminal also includes inertia measuring module;
Described step 2 comprises further, and inertia measuring module obtains staff at the crab angle of initial position, the angle of pitch and roll angle; According to crab angle, the angle of pitch and roll angle, 360 of the described interior space ° of two dimensional surface scintigrams are carried out three-dimensional affine transformation, 360 of the described interior space ° of two dimensional surface scintigrams are transformed to 360 ° of two dimensional surface scintigrams in same level;
Described step 4 comprises further, and inertia measurement instrument obtains staff at the crab angle of current location, the angle of pitch and roll angle; According to the crab angle of current location, the angle of pitch and roll angle, 360 of the interior space of current location ° of two dimensional surface scintigrams are carried out three-dimensional affine transformation, 360 of the interior space of current location ° of two dimensional surface scintigrams are transformed to 360 ° of two dimensional surface scintigrams in same level;
Described step 5 comprises further, 360 ° of two dimensional surface scintigrams in the same level of ° two dimensional surface scintigram of 360 in initial position same level and current location are carried out scan matching, obtains the two dimensional surface coordinate of staff's current location relative to initial position.
4. a kind of indoor orientation method according to claim 3, is characterized in that, described second locating terminal is installed on the head of staff.
5. a kind of indoor orientation method according to claim 3 or 4, is characterized in that, the first locating terminal also comprises inertia measuring module, and is installed on the foot of staff;
Described step 3 comprises further, when inertia measuring module detects that the angle of pitch in certain moment after positive peak appears in the angle of pitch of staff's foot and the difference of static angle of pitch reference value are less than a certain threshold value, then thinks that staff covers a step.
6. a kind of indoor orientation method according to claim 5, is characterized in that, also comprise step 6:
First locating terminal obtains the crab angle of current location; Second locating terminal obtains the crab angle of current location;
The described crab angle that first locating terminal exports is converted to course, the described crab angle that the second locating terminal exports is converted to course, the course that the course export the first locating terminal and the second locating terminal export is merged, and obtains the course after merging;
Calculate the air line distance of two positions according to the two dimensional surface coordinate of current location two dimensional surface coordinate and initial position, be designated as step-length;
According to the course after merging and the two dimensional surface coordinate of the revised current location of step size computation.
7. a kind of indoor orientation method according to claim 6, is characterized in that, repeated execution of steps 3 ~ 6, obtains the event trace of staff in indoor.
8. a kind of indoor orientation method according to claim 6, is characterized in that, in described step 6, by the course input card Thalmann filter of the course of the first locating terminal and the second locating terminal, obtains the course after merging.
9. a kind of indoor orientation method according to claim 1 or 3, is characterized in that, in step 5, adopts ICP algorithm to carry out scan matching to two 360 ° of two dimensional surface scintigrams.
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| CN108303075A (en) * | 2017-12-29 | 2018-07-20 | 广州斯马特信息科技有限公司 | Orbit generation method and system |
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| CN111061965A (en) * | 2019-10-31 | 2020-04-24 | 浙江口碑网络技术有限公司 | Processing method of order information, client and server |
| CN112697144A (en) * | 2019-10-22 | 2021-04-23 | 广东博智林机器人有限公司 | Indoor positioning method and device |
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| CN113759357A (en) * | 2021-09-07 | 2021-12-07 | 四川启睿克科技有限公司 | Method and system for accurately positioning positions of people in smart home |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108303075A (en) * | 2017-12-29 | 2018-07-20 | 广州斯马特信息科技有限公司 | Orbit generation method and system |
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| CN111061965A (en) * | 2019-10-31 | 2020-04-24 | 浙江口碑网络技术有限公司 | Processing method of order information, client and server |
| CN113203416A (en) * | 2021-03-19 | 2021-08-03 | 电子科技大学 | Pedestrian dead reckoning method for swing arm pedestrian |
| CN113759357A (en) * | 2021-09-07 | 2021-12-07 | 四川启睿克科技有限公司 | Method and system for accurately positioning positions of people in smart home |
| CN113759357B (en) * | 2021-09-07 | 2023-11-21 | 四川启睿克科技有限公司 | Method and system for accurately positioning personnel in smart home |
| CN113660724A (en) * | 2021-10-20 | 2021-11-16 | 北京卓建智菡科技有限公司 | Motion trajectory determination method and device, computer equipment and storage medium |
| CN113660724B (en) * | 2021-10-20 | 2021-12-31 | 北京卓建智菡科技有限公司 | Motion trajectory determination method and device, computer equipment and storage medium |
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