CN104596508A - Indoor navigation method based on combination of region location, inertial navigation and map path - Google Patents
Indoor navigation method based on combination of region location, inertial navigation and map path Download PDFInfo
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- CN104596508A CN104596508A CN201510080853.5A CN201510080853A CN104596508A CN 104596508 A CN104596508 A CN 104596508A CN 201510080853 A CN201510080853 A CN 201510080853A CN 104596508 A CN104596508 A CN 104596508A
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- navigation
- location
- indoor
- map path
- inertial navigation
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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
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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
- G01C21/165—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 combined with non-inertial navigation instruments
Abstract
The invention discloses an indoor navigation method based on the combination of region location, inertial navigation and map path. The indoor navigation method comprises the following steps: S1, region identification location; S2, inertial navigation; S3, map path data aided navigation. According to the invention, the indoor navigation method heavily relies on sensor data and map path data of a terminal and less relies on wireless signals, so that the laying and maintenance costs are greatly reduced; meanwhile, the location and navigation technology for cooperating the sensor data, the map path data and the wireless signals greatly improve the accuracy of indoor location and navigation.
Description
Technical field
The present invention relates to a kind of airmanship, refer in particular to a kind of based on the indoor navigation method of zone location in conjunction with inertial navigation and map path.
Background technology
Existing indoor positioning airmanship huge number, divides from positioning principle and mainly contains based on identification code (ID) localization method, geometry location method and fingerprint location method etc.Localization method based on identification code (ID) passes through the ID identifying access point, the such as various signal source such as WiFi WAP or Bluetooth signal, in conjunction with the indoor location that the access point ID preset is corresponding, identify user terminal region, but this positioning system depends on the density that access point is laid, if need higher positioning precision, just need very high access point layout density, add hardware deployment cost and maintenance cost, geometry location technology is positioned by the geometric relationship between the location node of measuring terminals and known coordinate, comprise the location technology based on distance, the location technology based on range difference, reach the location technology etc. at angle based on signal, but the shortcoming of this location technology be measuring terminals and location node non line of sight visible time (there are the barriers such as body of wall centre) error comparatively large, precision is inadequate, fingerprint location technology is divided into off-line and online two stages, off-line phase carries out stress and strain model to indoor environment, then the data acquisition of signal characteristic value (data such as such as WiFi signal intensity) is carried out, form fingerprint database, on-line stage user terminal Real-time Collection signal characteristic value, by matching algorithm, live signal eigenwert and fingerprint database are carried out fingerprint matching, calculate the coordinate position of terminal, the basic assumption of fingerprint location method is the signal characteristic of off-line phase when gathering the signal characteristic of fingerprint and locate is consistent, but because the wireless signal such as WiFi or bluetooth affects very large by various factors such as environment, so that positioning precision is greatly affected, the collection of fingerprint database and maintenance are also that cost that need be very large drops into.
Summary of the invention
All there is to solve prior art the problem that positioning precision is inadequate and maintenance cost is high, the present invention proposes and a kind ofly improve indoor position accuracy based on the indoor navigation method of zone location in conjunction with inertial navigation and map path, reducing system cost.
The technical solution adopted in the present invention is: a kind of based on the indoor navigation method of zone location in conjunction with inertial navigation and map path, comprises the steps:
S1, region recognition is located: the indoor environment of location navigation that needs residing for mobile terminal is separated into several unit areas, based on one or more signal sources in WiFi, bluetooth, earth magnetism, light, sound wave, utilize identification code localization method, geometry location method or fingerprint location method, tentatively infer the region residing for terminal;
S2, inertial navigation: call the sensor that mobile terminal carries, comprise in accelerator, three-axis gyroscope, electronic compass, pressure transducer one or more, judge the movement locus of terminal further, to realize the real-time location navigation function in user terminal motion;
S3, the assisting navigation of map path data: the map path data relevant to indoor map combine, carries out auxiliary correction to location navigation, reaches higher location navigation precision and accuracy.
As preferably, in described step S1, radio signal source is WiFi signal or Bluetooth signal.
As preferably, in described step S1, described unit area is latticed 3 meters and takes advantage of the square area of 3 meters.Several unit areas, can be latticed 3 meters and take advantage of the square area of 3 meters, also can be region in irregular shape.
As preferably, in described step S1, in the indoor environment that locate, lay several bluetooth 4.0 transmitters.
As preferably, in described step S2, also comprise the correction step that calibrates for error, namely inertial navigation judges the need of correction error after completing, if then return step S1 to carry out region recognition location again, then enters step S3 if not.Because inertial navigation generally all exists the accumulative problem of error and drift error, long-distance dependence can cause error too large in inertial navigation and make positioning precision effect very bad, therefore the present invention needs the work doing interim calibration, and namely inertial navigation judges the need of correction error after completing.
The invention has the beneficial effects as follows: the sensing data and the map path data that depend on terminal itself to a great extent, the dependence for wireless signal is low, and laying and maintenance cost are reduced greatly; The location and navigation technology of sensing data, map path data, wireless signal collaborative work simultaneously, the precision that indoor positioning is navigated is largely increased.
Accompanying drawing explanation
Fig. 1 is a kind of process flow diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, a kind of based on the indoor navigation method of zone location in conjunction with inertial navigation and map path, concrete steps are as follows.
S1, region recognition is located.
The indoor environment of location navigation that needs residing for mobile terminal is separated into several unit areas, takes advantage of the square of 3 meters as a region, also can be region in irregular shape for such as latticed 3 meters.Then, based on one or more signal sources in WiFi, bluetooth, earth magnetism, light, sound wave, utilize identification code localization method, geometry location method or fingerprint location method, tentatively infer the region residing for terminal.
Judge have higher accuracy and stability according to existing technology feasible region, and the cost realized is lower.At the indoor venue that infrastructure is perfect not, we can lay some simple signal sources, such as bluetooth 4.0 ballistic device, to provide accuracy rate and the stability of region decision.Bluetooth 4.0 components and parts have that price is low, power consumption is low (most use button cell), be easy to dispose and the advantage such as maintenance.After judging region, initial alignment is set as regional center, and when region decision is correct, the error amount of location will control within the maximum radius in region.
Region recognition is located, and a kind of the simplest region decision method arranges bluetooth 4.0 transmitter, when terminal enters this region, receives bluetooth 4.0 signal changing region the strongest, so just judges that terminal is at this intra-zone.In addition, the fingerprint location method of WiFi can also being utilized, by finding fingerprint the most close in the received signals fingerprint of terminal scanning and fingerprint database, judging which region is terminal belong to.Certainly, the identification that we can utilize other some existing location technologies to come feasible region judges.
S2, inertial navigation.
Call the sensor that mobile terminal carries, comprise one or more in accelerator, three-axis gyroscope, electronic compass, pressure transducer, judge the movement locus of terminal further, to realize the real-time location navigation function in user terminal motion.
The present invention removes by computer program the various sensing datas calling terminal, comprises one or more sensing datas such as accelerator, three-axis gyroscope, electronic compass, pressure transducer, infers direction of motion and the displacement of terminal device.The judgement of direction of motion, the compass reading that the present invention utilizes system self-contained and the angle of map and direct north are to calculate the direction of motion of terminal relative to map; The judgement of moving displacement, the present invention's gait detects, and namely by judging the step number that user walks and judging each average step length walked of user, both is multiplied and obtains the relative distance of user's movement.For the estimation of step number, the present invention, by the reading of accelerometer, extracts the component of number vertical direction, and judges according to device waveform, and waveform also provides the reading of cadence simultaneously; For the estimation of step-length, the present invention is inferred by a linear relation y=ax+b of Stride length and frequency, and wherein x is cadence, and y is step-length, a and b is empirical parameter, and cadence is faster, and step-length is larger.Parameter a and b, can preset an initial value by experience and statistics.
But generally all there is the accumulative problem of error and drift error in inertial navigation, long-distance dependence can cause error too large in inertial navigation and make positioning precision effect very bad, therefore the present invention needs the work doing interim calibration, namely inertial navigation judges the need of correction error after completing, if then return step S1 to carry out region recognition location again, then enter step S3 if not.Utilize inertial navigation between region to locate, and often through a region, utilize region recognition to locate and calibrate, the error of inertial navigation is controlled always in an acceptable less scope.Meanwhile, the present invention is provided with the mechanism of a set of self study, and when user goes to another one region from a region, the present invention does an adjustment according to the cadence of the Distance geometry user in these two regions to the parameter a in above-mentioned linear relationship and b.
S3, the assisting navigation of map path data.
The map path data relevant to indoor map combine, and carry out auxiliary correction, reach higher location navigation precision and accuracy to location navigation.
On the basis of the first two step, the present invention is using map path as assisting the effect strengthening location navigation.In the environment of indoor aisle, as map path data storing is a feasible route in the middle of aisle, what the present invention was realized by zone location and inertial navigation is likely the continuous curve fluctuated along this route, the map path data of region so can be utilized to do an optimization to final navigation results, by these noise removals of upper and lower slight fluctuation, navigation results is limited on this route, what make finally to present to holder terminal is a reliable and stable navigation experience, and also have will promote to some extent in precision and degree of stability.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within protection scope of the present invention.
Claims (5)
1., based on the indoor navigation method of zone location in conjunction with inertial navigation and map path, it is characterized in that: comprise the steps:
S1, region recognition is located: the indoor environment of location navigation that needs residing for mobile terminal is separated into several unit areas, based on one or more signal sources in WiFi, bluetooth, earth magnetism, light, sound wave, utilize identification code localization method, geometry location method or fingerprint location method, tentatively infer the region residing for terminal;
S2, inertial navigation: call the sensor that mobile terminal carries, comprise in accelerator, three-axis gyroscope, electronic compass, pressure transducer one or more, judge the movement locus of terminal further, to realize the real-time location navigation function in user terminal motion;
S3, the assisting navigation of map path data: the map path data relevant to indoor map combine, carries out auxiliary correction to location navigation, reaches higher location navigation precision and accuracy.
2. according to claim 1 based on the indoor navigation method of zone location in conjunction with inertial navigation and map path, it is characterized in that: in described step S1, radio signal source is WiFi signal or Bluetooth signal.
3. according to claim 1ly it is characterized in that: in described step S1 based on the indoor navigation method of zone location in conjunction with inertial navigation and map path, described unit area is latticed 3 meters and takes advantage of the square area of 3 meters.
4. according to claim 1ly to it is characterized in that: in described step S1 based on the indoor navigation method of zone location in conjunction with inertial navigation and map path, in the indoor environment that locate, lay several bluetooth 4.0 transmitters.
5. according to claim 1 based on the indoor navigation method of zone location in conjunction with inertial navigation and map path, it is characterized in that: in described step S2, also comprise the correction step that calibrates for error, namely inertial navigation judges the need of correction error after completing, if then return step S1 to carry out region recognition location again, then enter step S3 if not.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977003A (en) * | 2015-06-29 | 2015-10-14 | 中国人民解放军国防科学技术大学 | Indoor people search method, cloud server, and system based on shared track |
| CN105072681A (en) * | 2015-07-27 | 2015-11-18 | 北京博阳世通信息技术有限公司 | Arrangement device and method for location system based on indoor space position |
| CN105516929A (en) * | 2016-01-25 | 2016-04-20 | 赵佳 | Indoor map data building method and device and indoor positioning method and device |
| CN105898692A (en) * | 2016-03-25 | 2016-08-24 | 北京智慧图科技有限责任公司 | Indoor positioning method and apparatus |
| CN106153049A (en) * | 2016-08-19 | 2016-11-23 | 北京羲和科技有限公司 | A kind of indoor orientation method and device |
| CN106289313A (en) * | 2015-05-20 | 2017-01-04 | 无锡卓信信息科技有限公司 | A kind of method utilizing magnetic coil calibration inertial navigation location |
| CN106403955A (en) * | 2016-10-13 | 2017-02-15 | 北京国承万通信息科技有限公司 | Positioning method and positioning system |
| CN107360549A (en) * | 2017-08-22 | 2017-11-17 | 江苏北弓智能科技有限公司 | A kind of indoor positioning air navigation aid based on bluetooth 5 |
| CN107801241A (en) * | 2016-09-07 | 2018-03-13 | 黄大卫 | Indoor orientation method and system based on wifi equipment |
| CN107864510A (en) * | 2017-12-26 | 2018-03-30 | 厦门大学 | A kind of indoor orientation method, terminal device and storage medium suitable for nuclear island of nuclear power station |
| CN109556600A (en) * | 2017-09-27 | 2019-04-02 | 腾讯科技（深圳）有限公司 | A kind of particular space localization method, device and storage equipment |
| CN109618280A (en) * | 2019-01-03 | 2019-04-12 | 广州杰赛科技股份有限公司 | Localization method, device, equipment and storage medium based on dynamic reference node |
| CN110174647A (en) * | 2019-06-20 | 2019-08-27 | 京东方科技集团股份有限公司 | Indoor orientation method, indoor navigation method and indoor positioning navigation system |
| CN111158356A (en) * | 2018-11-08 | 2020-05-15 | 苏州宝时得电动工具有限公司 | Automatic mower and control method thereof |
| CN111182449A (en) * | 2020-01-07 | 2020-05-19 | 东南大学 | Shopping cart tracking, positioning and monitoring method based on business surpasses |
| CN113055819A (en) * | 2021-04-07 | 2021-06-29 | 山东中创电子科技有限公司 | Indoor positioning method, system and storage medium |
| CN113382357A (en) * | 2021-06-29 | 2021-09-10 | 上海电力大学 | Bluetooth indoor positioning method for improving fusion of PDR and RSSI |
| WO2021238785A1 (en) * | 2020-05-27 | 2021-12-02 | 华为技术有限公司 | Positioning method, user equipment, storage medium, and electronic device |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106289313A (en) * | 2015-05-20 | 2017-01-04 | 无锡卓信信息科技有限公司 | A kind of method utilizing magnetic coil calibration inertial navigation location |
| CN104977003A (en) * | 2015-06-29 | 2015-10-14 | 中国人民解放军国防科学技术大学 | Indoor people search method, cloud server, and system based on shared track |
| CN105072681B (en) * | 2015-07-27 | 2019-01-15 | 北京博阳世通信息技术有限公司 | A kind of deployment device and method of the positioning system based on interior space position |
| CN105072681A (en) * | 2015-07-27 | 2015-11-18 | 北京博阳世通信息技术有限公司 | Arrangement device and method for location system based on indoor space position |
| CN105516929A (en) * | 2016-01-25 | 2016-04-20 | 赵佳 | Indoor map data building method and device and indoor positioning method and device |
| CN105516929B (en) * | 2016-01-25 | 2019-08-27 | 图优化(北京)科技有限公司 | Establish method, indoor orientation method and the corresponding intrument of indoor map data |
| CN105898692B (en) * | 2016-03-25 | 2019-12-03 | 北京智慧图科技有限责任公司 | A kind of indoor orientation method and device |
| CN105898692A (en) * | 2016-03-25 | 2016-08-24 | 北京智慧图科技有限责任公司 | Indoor positioning method and apparatus |
| CN106153049A (en) * | 2016-08-19 | 2016-11-23 | 北京羲和科技有限公司 | A kind of indoor orientation method and device |
| CN107801241A (en) * | 2016-09-07 | 2018-03-13 | 黄大卫 | Indoor orientation method and system based on wifi equipment |
| CN106403955A (en) * | 2016-10-13 | 2017-02-15 | 北京国承万通信息科技有限公司 | Positioning method and positioning system |
| CN107360549A (en) * | 2017-08-22 | 2017-11-17 | 江苏北弓智能科技有限公司 | A kind of indoor positioning air navigation aid based on bluetooth 5 |
| CN109556600A (en) * | 2017-09-27 | 2019-04-02 | 腾讯科技（深圳）有限公司 | A kind of particular space localization method, device and storage equipment |
| CN107864510B (en) * | 2017-12-26 | 2020-04-24 | 厦门大学 | Indoor positioning method, terminal equipment and storage medium suitable for nuclear island of nuclear power station |
| CN107864510A (en) * | 2017-12-26 | 2018-03-30 | 厦门大学 | A kind of indoor orientation method, terminal device and storage medium suitable for nuclear island of nuclear power station |
| CN111158356A (en) * | 2018-11-08 | 2020-05-15 | 苏州宝时得电动工具有限公司 | Automatic mower and control method thereof |
| CN109618280A (en) * | 2019-01-03 | 2019-04-12 | 广州杰赛科技股份有限公司 | Localization method, device, equipment and storage medium based on dynamic reference node |
| CN110174647A (en) * | 2019-06-20 | 2019-08-27 | 京东方科技集团股份有限公司 | Indoor orientation method, indoor navigation method and indoor positioning navigation system |
| CN110174647B (en) * | 2019-06-20 | 2021-11-16 | 京东方科技集团股份有限公司 | Indoor positioning method, indoor navigation method and indoor positioning navigation system |
| CN111182449A (en) * | 2020-01-07 | 2020-05-19 | 东南大学 | Shopping cart tracking, positioning and monitoring method based on business surpasses |
| WO2021238785A1 (en) * | 2020-05-27 | 2021-12-02 | 华为技术有限公司 | Positioning method, user equipment, storage medium, and electronic device |
| CN113055819A (en) * | 2021-04-07 | 2021-06-29 | 山东中创电子科技有限公司 | Indoor positioning method, system and storage medium |
| CN113382357A (en) * | 2021-06-29 | 2021-09-10 | 上海电力大学 | Bluetooth indoor positioning method for improving fusion of PDR and RSSI |
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Effective date of registration: 20160928 Address after: 311616, Jiangnan Town, Dayang Town, Zhejiang City, Jiande province 401 Applicant after: Xu Yongxin Address before: Yuhang District, Hangzhou City, Zhejiang Province, 311121 West Sea Park No. 998 Building No. 5 405A Applicant before: HANGZHOU KUBAN TECHNOLOGY CO., LTD. |
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Application publication date: 20150506 |