CN104501801B - A kind of indoor orientation method - Google Patents
A kind of indoor orientation method Download PDFInfo
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- CN104501801B CN104501801B CN201410853977.8A CN201410853977A CN104501801B CN 104501801 B CN104501801 B CN 104501801B CN 201410853977 A CN201410853977 A CN 201410853977A CN 104501801 B CN104501801 B CN 104501801B
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- positioning terminal
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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 a kind of indoor orientation method, it is related to location technology, it is desirable to provide a kind of indoor orientation method without prior information.Technical key point：First positioning terminal and the second positioning terminal are worn on staff's body；Staff obtains 360 ° of two dimensional surface scanning figures of the interior space in initial position, the second positioning terminal；Whether the first positioning terminal detection staff covers a step, and the second positioning terminal is notified if a step is covered；Second positioning terminal is received after the notice, obtains 360 ° of two dimensional surface scanning figures of the interior space of current location；Two 360 ° of two dimensional surface scanning figures are scanned matching, two-dimensional plane coordinate of the staff current location relative to initial position is obtained.
Description
Technical field
The present invention relates to location technology, especially a kind of indoor orientation method.
Background technology
With continuing to develop for modern society, Development of China's Urbanization is accelerated, and building housing-group is also towards maximization, high stratification hair
Exhibition, people 80%-90% time is in indoor environment (containing underground, mine, tunnel etc.).These changes have been aggravated to indoor position
The requirement of service is put, the demand to high-precision indoor positioning is just increasing sharply.
At present, indoor positioning technologies species is various, can be divided into two major classes：1. local indoor positioning, such as WLAN
(WLAN), RF tag (RFID), purple honeybee (Zigbee), bluetooth, ultra wide band (UWB), earth magnetism field strength, infrared positioning, light tracking
Positioning, computer vision positioning, ultrasonic wave positioning, inertial navigation positioning etc.；2. wide area indoor positioning, is such as based on mobile radio communication
Assistant GPS (A-GPS), pseudo satellite, pseudolite, terrestrial digital communication and radio network alignment system of network etc..
Existing indoor positioning technologies need prior information mostly, if desired for deployment beaconing nodes in advance, it is necessary to build in advance
Vertical fingerprint base etc., although inertial navigation does not need prior information to be positioned, single inertial navigation precision is not high,
Therefore existing indoor positioning technologies can not adapt to the indoor environment of complexity.
The content of the invention
The technical problems to be solved by the invention are：For above-mentioned problem there is provided a kind of without prior information
Indoor orientation method.
The technical solution adopted by the present invention includes：
Step 1：First positioning terminal and the second positioning terminal are worn on staff's body；
Step 2：Staff is in initial position, and 360 ° of two dimensions that the second positioning terminal is scanned the acquisition interior space are put down
Surface scan figure；
Step 3：Whether the first positioning terminal detection staff covers a step, notifies the second positioning whole if a step is covered
End；
Step 4：Second positioning terminal is received after the notice, obtains 360 ° of two dimensional surfaces of the interior space of current location
Scanning figure；
Step 5：Two 360 ° of two dimensional surface scanning figures are scanned matching, obtain staff current location relative to
The two-dimensional plane coordinate of initial position.
Further, second positioning terminal includes scanning range radar；In the step 2 and step 4, in the second positioning
The scanning range radar at end obtains 360 ° of scanning figures of the interior space under polar coordinates, then will scan the pole seat that range radar is obtained
Mark on a map and be converted to rectangular plots to obtain 360 ° of two dimensional surface scanning figures of the interior space.
Further, the second positioning terminal also includes inertia measuring module；The step 2 further comprises, inertia measurement
Module obtains staff in the yaw angle of initial position, the angle of pitch and roll angle；Will according to yaw angle, the angle of pitch and roll angle
360 ° of two dimensional surface scanning figures of the interior space carry out three-dimensional affine transformation, by 360 ° of two dimensional surfaces of the interior space
Scanning figure is transformed to 360 ° of two dimensional surface scanning figures in same level；
The step 4 further comprises, inertia measurement instrument obtain staff the yaw angle of current location, the angle of pitch and
Roll angle；According to the yaw angle of current location, the angle of pitch and roll angle by 360 ° of two dimensional surfaces of the interior space of current location
Scanning figure carries out three-dimensional affine transformation, and 360 ° of two dimensional surface scanning figures of the interior space of current location are transformed into same level
360 ° of two dimensional surface scanning figures on face；
The step 5 further comprises, by 360 ° of two dimensional surface scanning figures in initial position same level and currently
360 ° of two dimensional surface scanning figures in the same level of position are scanned matching, obtain staff current location relative to
The two-dimensional plane coordinate of initial position.
Preferably, second positioning terminal is installed on the head of staff.
First positioning terminal also includes inertia measuring module, and is installed on the foot of staff；The step 3 is further
Including, the angle of pitch at certain moment after positive peak occurs in the angle of pitch that inertia measuring module detects staff's foot with it is quiet
When only the difference of angle of pitch reference value is less than a certain threshold value, then it is assumed that staff covers a step.
Further, in addition to step 6：
The inertia measuring module of first positioning terminal obtains the yaw angle of current location；The inertia measurement of second positioning terminal
Module obtains the yaw angle of current location；
The yaw angle that first positioning terminal is exported is converted to course, the driftage that the second positioning terminal is exported
Angle is converted to course, and the course that the first positioning terminal is exported is merged with the course that the second positioning terminal is exported, and is melted
Course after conjunction；
According to current location two-dimensional plane coordinate and the two-dimensional plane coordinate of initial position calculate the straight lines of two positions away from
From being designated as step-length；
According to the two-dimensional plane coordinate in the course after fusion and the revised current location of step size computation.
Further, step 3~6 are repeated, the event trace of staff indoors is obtained.
Further, in the step 6, the course of the first positioning terminal and the course of the second positioning terminal are inputted into Kalman
Wave filter, the course after being merged.
Further, in step 5, matching is scanned to two 360 ° of two dimensional surface scanning figures using ICP algorithm.
The present invention realizes the high-precision indoor positioning without disposing beaconing nodes in advance, compared to other indoor locations clothes
Business system, advantage of the invention is that the following aspects：
1st, it need not shift to an earlier date or deployed in real time beaconing nodes, not limited by surrounding environment；
2nd, using multisensor and multi-information merging technology, accumulation that position error will not be over time and dissipate, have
The advantage that positioning precision is high, continuity is good.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the planogram data of scanning range radar output by the conversion under polar coordinates to rectangular co-ordinate.
Fig. 2 is the result that matching is scanned using ICP algorithm.
Fig. 3 is to be compared figure with actual activity track using present invention positioning staff's indoor activity track.
Marked in figure：A is staff's initial position, and b is staff current location.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification, unless specifically stated otherwise, can be equivalent by other or with similar purpose
Alternative features are replaced.I.e., unless specifically stated otherwise, each feature is an example in a series of equivalent or similar characteristics
.
The specific embodiment of the present invention comprises the following steps：
It is preferred at one 1. a positioning terminal I and II is worn on staff's body, in order to obtain preferable effect
Positioning terminal I is worn on personnel's foot in example, fully to perceive the change of personnel's walking, positioning terminal II is worn on people
Member head, to obtain 360 degree of two dimensional surface scanning figure.
Wherein positioning terminal I is inertia measuring module；Positioning terminal II includes scanning range radar and Inertial Measurement Unit.
Inertia measuring module can perceive rocking and route for staff head or foot, including three axis accelerometer
Instrument, three axis accelerometer, three axle magnetometer, are worn on staff's body, collection absolute force data, angular speed number
According to and acceleration information, utilize direction cosines between geographical coordinate and kinetic coordinate system of geomagnetic field and gravity magnetic field to carry out
The resolving of absolute angle, and obtained attitude angle is merged using Kalman filtering, finally give stable attitude angle, bag
Include yaw angle, the angle of pitch, roll angle.
Attitude angle computational algorithm in inertia measuring module machine is prior art, be will not be repeated here.
The yaw angle of aircraft, the angle of pitch, roll angle in yaw angle, the angle of pitch, roll angle and aviation field in the application
Definition is similar, specifically, yaw angle refers to that staff's row deviates the angle of target direction (such as direct north).The angle of pitch refers to
The head of staff or the pitch angle of foot relative level.The head of roll angle staff or foot are with respect to water
The angle of plane or so upset.
Scanning range radar is used to scan the indoor 2 d plane picture of generation.
Step 2：Staff is scanned the acquisition interior space in initial position, the scanning range radar of positioning terminal II
360 ° of two dimensional surface scanning figures.
In a preferred embodiment, first of all for being easy to calculate and handling, to the polar coordinates of scanning range radar acquisition
Under plane of scanning motion diagram data carry out rectangular coordinate system under conversion (as shown in Figure 1), formula is as follows：
X=dis*cos (α * π/180)
Y=dis*sin (α * π/180)
(1)
Wherein α is the corresponding polar angle of each scanning element, and dis is the corresponding pole span of each scanning element.
Further, it is contemplated that due to staff when walking, body can be rocked, and it is continuous that scanning range radar is obtained
Scanning figure is not on a horizontal plane, it is therefore desirable to perceive staff's body by the inertia measuring module in positioning terminal II
Rock, and using three-dimensional affine transformation, scanning figure is transformed under same plane.
Specific practice is：
If (x, y, 0) is the scanning point coordinates in the two dimensional surface scanning figure of scanning range radar output, same being transformed into
The scanning point coordinates in two dimensional surface scanning figure on one horizontal plane is (x', y', z'), then conversion formula is as follows：
Wherein A is spin matrix,
Wherein Rx(φ) is the spin matrix around x-axis (roll axle), Ry(θ) is the spin matrix around y-axis (pitch axis), Rz
(ψ) is the spin matrix around z-axis (yaw axis),
Inertial Measurement Unit is exported in wherein φ, θ, ψ difference positioning terminal II roll angle, the angle of pitch and yaw angle.
Step 3：Whether the detection staff of positioning terminal I covers a step, and positioning terminal II is notified if a step is covered.
In the application a described step refer to this time foothold of the same pin of staff to foothold next time away from
From.
In a preferred embodiment, when the inertia measuring module in positioning terminal I detects bowing for staff's foot
When there is the difference of the angle of pitch at certain moment after positive peak and static angle of pitch reference value less than a certain threshold value in the elevation angle, then it is assumed that
Foothold is detected, and then thinks that staff covers a step.Wherein described static angle of pitch reference value can be staff
The angle of pitch that recorded during the landing of static and pin.
Because being foot-up first during staff's row makes a move, now the angle of pitch is a negative value, with lift
A negative peak occurs in the progress of pin process, the angle of pitch, is foot-up afterwards, and the angle of pitch gradually increases, before pin landing, the angle of pitch
A positive peak occurs, is then gradually reduced, the angle of pitch is substantially equal to or close to static angle of pitch reference value when pin lands,
Therefore it is considered that when the angle of pitch occur the angle of pitch at certain moment after positive peak with it is static when angle of pitch reference chamber difference be less than
During given threshold, for example, the threshold value can be set to 5 °, foothold has been occurred as soon as.Step 4：Positioning terminal II receives described logical
After knowing, 360 ° of two dimensional surface scanning figures of the interior space of current location are obtained.Likewise, the side of being preferable to carry out of this step
Formula is referred to the preferred embodiment of step 2, to obtain the two dimensional surface scanning figure in more accurate same level.
Step 5：Two 360 ° of two dimensional surface scanning figures are scanned matching, obtain staff current location relative to
The two-dimensional plane coordinate of initial position.
Scan matching algorithm is a lot, there is NDT (Normal Distribution Transformation) algorithm, ICP
(Iterative Closest Point) algorithm etc., uses ICP algorithm, such as in a preferred embodiment example of the invention
Shown in Fig. 2, coordinate of the current location relative to initial position of staff is obtained by scan matching, in other words current location
Coordinate in rectangular coordinate system where initial position, and then can calculate the boat of current location using the coordinate of two positions
To and two positions between distance, be used as walking step-length bc.
The course refers to the line and the angle of rectangular coordinate system x-axis positive direction of current location and initial position.According to
The relation of the target direction and rectangular coordinate system, it is possible to achieve the mutual conversion of course and yaw angle.
Walking course information by the personnel that the Inertial Measurement Unit of a positioning terminal is obtained can be with personnel's walking
Drift is produced, causes course inaccurate, can be corrected by the course information of another positioning terminal.Therefore, at this
In the other embodiment of invention, step 6 further comprises：The inertia measuring module of positioning terminal I obtains the yaw angle of current location；
The inertia measuring module of positioning terminal II obtains the yaw angle of current location；The yaw angle conversion that positioning terminal I is exported
For course, the yaw angle that positioning terminal II is exported is converted into course, the course that positioning terminal I is exported and positioning terminal
The course of II output is merged, the course hx after being merged.It is preferred that, Kalman filter can be used by two courses
Merged, the node that can be also obtained using training neutral net is merged etc. as weights to two courses.
According to the two-dimensional plane coordinate (X ', Y ') in the course after fusion and the revised current location of step size computation.
X '=bc*sin (hx) (5)
Y '=bc*cos (hx) (6)
Step 3~6 are repeated, the event trace of staff indoors is obtained.Positioned using the inventive method
Result as shown in figure 3, worst error distance be 21.5 centimetres.
The invention is not limited in foregoing embodiment.The present invention, which is expanded to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (8)
1. a kind of indoor orientation method, it is characterised in that including：
Step 1：First positioning terminal and the second positioning terminal are worn on staff's body；
Step 2：Staff obtains 360 ° of two dimensional surface scanning figures of the interior space in initial position, the second positioning terminal；
Step 3：Whether the first positioning terminal detection staff covers a step, and the second positioning terminal is notified if a step is covered；
Step 4：Second positioning terminal is received after the notice, obtains 360 ° of two dimensional surfaces scanning of the interior space of current location
Figure；
Step 5：Two 360 ° of two dimensional surface scanning figures are scanned matching, staff current location are obtained relative to initial
The two-dimensional plane coordinate of position；
Also include step 6：First positioning terminal obtains the yaw angle of current location；Second positioning terminal obtains the inclined of current location
Boat angle；
The yaw angle that first positioning terminal is exported is converted to course, and the yaw angle that the second positioning terminal is exported turns
Course is changed to, the course that the first positioning terminal is exported is merged with the course that the second positioning terminal is exported, and is obtained after fusion
Course；
The air line distance of two positions, note are calculated according to current location two-dimensional plane coordinate and the two-dimensional plane coordinate of initial position
For step-length；
According to the two-dimensional plane coordinate in the course after fusion and the revised current location of step size computation.
2. a kind of indoor orientation method according to claim 1, it is characterised in that second positioning terminal includes scanning
Range radar；In the step 2 and step 4, the scanning range radar of the second positioning terminal obtains the interior space under polar coordinates
360 ° of scanning figures, then be converted to rectangular plots by the polar diagram that range radar obtains is scanned so as to obtaining the Interior Space
Between 360 ° of two dimensional surface scanning figures.
3. a kind of indoor orientation method according to claim 2, it is characterised in that the second positioning terminal also includes inertia
Measurement module；
The step 2 further comprises that inertia measuring module obtains staff in the yaw angle of initial position, the angle of pitch and rolling
Corner；360 ° of two dimensional surface scanning figures of the interior space are carried out according to yaw angle, the angle of pitch and roll angle three-dimensional affine
Conversion, 360 ° of two dimensional surfaces 360 ° of two dimensional surface scanning figures of the interior space being transformed in same level are scanned
Figure；
The step 4 further comprises that inertia measurement instrument obtains staff in the yaw angle of current location, the angle of pitch and rolling
Angle；360 ° of two dimensional surfaces of the interior space of current location are scanned according to the yaw angle of current location, the angle of pitch and roll angle
Figure carries out three-dimensional affine transformation, and 360 ° of two dimensional surface scanning figures of the interior space of current location are transformed in same level
360 ° of two dimensional surface scanning figures；
The step 5 further comprises, by 360 ° of two dimensional surface scanning figures in initial position same level and current location
Same level on 360 ° of two dimensional surface scanning figures be scanned matching, obtain staff current location relative to initial
The two-dimensional plane coordinate of position.
4. a kind of indoor orientation method according to claim 3, it is characterised in that second positioning terminal is installed on work
Make the head of personnel.
5. a kind of indoor orientation method according to claim 3 or 4, it is characterised in that the first positioning terminal also includes used
Property measurement module, and it is installed on the foot of staff；
The step 3 further comprises, after positive peak occurs in the angle of pitch that inertia measuring module detects staff's foot
The difference of the angle of pitch and static angle of pitch reference value at certain moment when being less than a certain threshold value, then it is assumed that staff covers one
Step.
6. a kind of indoor orientation method according to claim 5, it is characterised in that repeat step 3 ~ 6, obtain work
The event trace of personnel indoors.
7. a kind of indoor orientation method according to claim 5, it is characterised in that in the step 6, by the first positioning eventually
The course at end and the course input Kalman filter of the second positioning terminal, the course after being merged.
8. a kind of indoor orientation method according to claim 1 or 3, it is characterised in that in step 5, using ICP algorithm pair
Two 360 ° of two dimensional surface scanning figures are scanned matching.
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108303075B (en) * | 2017-12-29 | 2021-01-29 | 广州斯马特信息科技有限公司 | Track generation method and system |
| EP3527938A1 (en) * | 2018-02-15 | 2019-08-21 | Leica Geosystems AG | Distance measuring system with layout generation functionality |
| CN108562869B (en) * | 2018-05-22 | 2021-08-03 | 京东方科技集团股份有限公司 | Indoor positioning navigation system and method |
| CN112697144B (en) * | 2019-10-22 | 2024-02-02 | 广东博智林机器人有限公司 | Indoor positioning method and device |
| CN111061965B (en) * | 2019-10-31 | 2021-01-08 | 浙江口碑网络技术有限公司 | Processing method of order information, client and server |
| CN113203416B (en) * | 2021-03-19 | 2022-07-12 | 电子科技大学 | Pedestrian dead reckoning method for swing arm pedestrian |
| 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 |
| 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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