CN104634342A - Indoor person navigation positioning system and method based on camera shooting displacement - Google Patents
Indoor person navigation positioning system and method based on camera shooting displacement Download PDFInfo
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- CN104634342A CN104634342A CN201510034024.3A CN201510034024A CN104634342A CN 104634342 A CN104634342 A CN 104634342A CN 201510034024 A CN201510034024 A CN 201510034024A CN 104634342 A CN104634342 A CN 104634342A
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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
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Abstract
The invention provides an indoor person navigation positioning system and method based on camera shooting displacement. A person positioning device is bound to the heel part of the left foot or right foot, and comprises a wireless transmission module, a DSP, a COMS imaging module and a camera. A camera shooting module acquires ground images and transmits the ground images into the COMS imaging module for imaging by virtue of a group of optical lenses; the movement track is recorded as a group of coherent images shot at a high speed, the series images are analyzed and processed by virtue of the DSP, and the moving direction and moving distance of a person are judged by analyzing the change of the positions of feature points on the images, so that the person positioning and navigation can be finished. The magnetic disturbance and magnetic deflection problems during indoor positioning navigation and the problem that a displacement error is generated by in-situ vibration of displacement by adopting a step-counting principle are solved. A basic guarantee is provided for the accuracy of final positioning of the person in the indoor environment, and the indoor severe environmental disturbance problem is solved.
Description
Technical field
The present invention relates to indoor positioning technologies, particularly relate to a kind of indoor occupant localization method without GPS areal coverage based on shooting imaging comparison.
Background technology
In recent years, indoor positioning technologies and to be location-basedly applied in order to study hotspot.Existing indoor positioning technologies is divided into three directions substantially: one is architecture, mainly adopts WIFI, ZIGBEE, NFC, RFID, ultra broadband UWB, bluetooth, the technology such as infrared, ultrasonic to adopt triangle polyester fibre principle to realize; One is earth magnetism inertial navigation location, and the main geomagnetic sensor that adopts comprehensively counts step principle displacement calculating by direction, acceleration and gyro, and carries out 3 D stereo location by air pressure and temperature computation height; Another one be adopt beacon location, main employing often walk a segment distance place a beacon for mark personnel's working direction and distance thus carry out personnel positions tracking.
There is several feature in aspect, indoor emergency location: randomness, disastrous, interference and promptness.Randomness means that a set of indoor locating system device can must use in any building, and can not dispose any equipment in this building in advance.Disastrous meaning if easily burnt by big fire etc. in the prior deployment facility of building interior causes positioning system to be paralysed.Because building interior reinforced concrete, forceful electric power light current, complicated general layout cause wireless signal or electromagnetic signal all to receive very large interference.Emergent location needs position system device can open i.e. use, Rapid Implementation.
Architecture, owing to needing can not meet emergent randomness and disastrous feature in building interior deployment card reader or scanner in advance, is not suitable for indoor emergency location.Earth magnetism inertial navigation locator meams is owing to adopting earth magnetism as people's direction of travel, and be easily subject to the magnetic interference of indoor reinforced concrete and forceful electric power light current, accuracy is very poor, is also not suitable for indoor emergency location.Tag location one meter of label, cause personnel to wear a large amount of label, label is also easily damaged in addition, causes signal interruption, is not suitable in time emergent location fast.Generally speaking architecture stable accuracy, but be not suitable for meeting an urgent need; Earth magnetism inertial navigation location is applicable to emergent, but precision is too low; Tag location complex operation, positioning precision is lower is also not suitable for emergency room inner position.
Along with the development of location technology and the continuous increase of emergent positioning service demand, indoor emergency location technology must overcome the shortcoming of prior art, meets following condition: randomness, disastrous, interference and promptness.But above several technology, all can not fully meet these requirements.
Summary of the invention
In order to overcome the shortcoming that existing indoor positioning technologies is located at indoor emergency, the invention provides a kind of the indoor occupant navigation positioning system based on shooting displacement and the localization method that are suitable for indoor emergency location navigation, avoid indoor environment interference, meet emergent location condition, thus ensure that the indoor position accuracy under emergent scene.
The technical solution adopted for the present invention to solve the technical problems comprises the following steps: a kind of indoor occupant navigation positioning system based on shooting displacement, comprise a locating device and background monitoring platform, described locating device is bundled in foot, wireless transport module, DSP digital microprocessor, COMS image-forming module and camera is provided with in described locating device, wherein, described camera shooting ground image, described COMS image-forming module is connected with camera, form primarily of imageing sensor, optical signalling is converted to electric signal, is transferred to DSP digital microprocessor; Described DSP digital microprocessor is connected with COMS image-forming module, receives described electric signal and to go forward side by side row relax; Described DSP digital microprocessor is connected with background monitoring platform simultaneously, is transferred on background monitoring platform by the electric signal after process by wireless transport module.
Described locating device is bundled in left foot or right crus of diaphragm heel position.
Described camera is an optics convex lens group.
Based on a localization method for the indoor occupant navigation positioning system of shooting displacement, comprise the following steps:
(1) at left foot or right crus of diaphragm heel position binding locating device;
(2) camera in locating device constantly obtains ground image
(3) by COMS imaging;
(4) DSP digital microprocessor carries out aspect ratio to process according to two imagings before and after COMS, calculates the Distance geometry direction of relative movement;
(5) the result structure of a series of images analyzing and processing forms the track of personnel's movement;
(6) result resolving out is sent to background monitoring platform by DSP digital microprocessor.
Wireless transmission is passed through between DSP digital microprocessor and background monitoring platform.
The invention has the beneficial effects as follows: present invention, avoiding indoor positioning navigation magnetic interference and magnetic biasing to problem and adopt meter step principle do displacement original place vibration produce displacement error problem, meet emergent location randomness, promptness and the characteristic condition such as disastrous, for the positioning precision under final personnel space environment provides basic guarantee, and avoid indoor rugged environment interference problem.
Accompanying drawing explanation
Fig. 1 is positioning device structure schematic diagram;
Fig. 2 is COMS imaging sensor schematic diagram;
Fig. 3 is foot's shooting image conversion schematic diagram.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.But those skilled in the art will appreciate that following examples are not the unique restriction done technical solution of the present invention, every any equivalents of doing under technical solution of the present invention Spirit Essence or change, all should be considered as belonging to protection scope of the present invention.
A kind of indoor occupant navigation positioning system based on shooting displacement provided by the invention, comprise a locating device, this locating device is bundled in personnel's left foot or right crus of diaphragm heel position, this device inside is provided with wireless transport module 1, DSP digital microprocessor 2, COMS image-forming module 3, and this several part of camera 4, as shown in Figure 1.
Positioning principle based on the indoor occupant navigation positioning system of shooting displacement is: camera obtains ground image, through one group of optical lens, is transferred to COMS image-forming module (micro-imager) interior imaging.
Optical lens is mainly made up of several convex lens, and form optical lens group, convex lens have amplification effect, and several convex lens, through amplifying continuously, can realize expanding coverage function.
COMS image-forming module forms primarily of imageing sensor, and imageing sensor SENSOR is a kind of semi-conductor chip, and its surface includes hundreds of thousands to millions of photodiodes.Photodiode is subject to illumination when penetrating, and will produce signal charge.COMS imaging image-forming principle is exactly that scenery projects in image sensor surface by the optical imagery that camera lens generates, and then transfer electric signal to, principle as shown in Figure 2.
Like this, when personnel's step moves, its motion track just can be registered as the coherent image of one group of high-speed capture, as shown in Figure 3.
Then the graphical analysis chip DSP digital microprocessor 2 in locating device is utilized, analyzing and processing is carried out to a series of images that motion track absorbs, by analyzing the change of characteristic point position on these images, judge moving direction and the displacement of personnel, thus complete the location of personnel.The position coordinates of personnel is transferred on background monitoring platform by wireless transport module 1, thus completes location, position and the navigation of personnel.
Image information is computing in dsp, finally operation result is passed to computer.DSP (i.e. DigitalSignalProcessor) is the chip carrying out digital signal processing, is the new unit produced along with the development of microelectronics, Digital Signal Processing, computer technology.The process such as collection, conversion, filtering, valuation, enhancing, compression, identification to signal can be realized fast, to obtain the signal form meeting people's needs.
Here wireless transport module has a variety of form, comprises wireless simulation microwave transmission, wireless digital microwave transmission, wireless mobile video transmission system, Radio Data-transmission system, wireless GPRS network transmission system.
In view of this, whole system is exactly just passable by the locating device tied up on pin and background monitoring platform (computing machine).The locating device but tied up on pin needs the power supply 5 of its work that provides support.The required distance of backstage and locating device is mainly fixed according to the requirement of radio transmission apparatus, selects what radio transmission apparatus to have certain limiting distance.Transmission signal ensure also determined by transmission equipment, its interference free performance of different transmission equipments from apart from different.
Therefore, essence of the present invention is a kind of indoor occupant localization method without GPS areal coverage based on shooting imaging comparison, it is characterized in that, comprises the following steps:
(1) described locating device is bound at left foot or right crus of diaphragm heel position;
(2) photographing module in locating device constantly obtains ground image, passes through cmos imaging;
(3) DSP DSP digital microprocessor carries out aspect ratio to process according to two imagings before and after COMS, calculates relative displacement Distance geometry direction;
(4) result resolving out is sent to background monitoring platform by DSP digital microprocessor.
Claims (5)
1., based on an indoor occupant navigation positioning system for shooting displacement, it is characterized in that: comprise a locating device and background monitoring platform,
Described locating device is bundled in foot, is provided with wireless transport module, DSP digital microprocessor, COMS image-forming module and camera in described locating device, wherein,
Described camera shooting ground image,
Described COMS image-forming module is connected with camera, primarily of imageing sensor composition, optical signalling is converted to electric signal, is transferred to DSP digital microprocessor;
Described DSP digital microprocessor is connected with COMS image-forming module, receives described electric signal and to go forward side by side row relax; Described DSP digital microprocessor is connected with background monitoring platform simultaneously, is transferred on background monitoring platform by the electric signal after process by wireless transport module.
2. the indoor occupant navigation positioning system based on shooting displacement according to claim 1, is characterized in that: described locating device is bundled in left foot or right crus of diaphragm heel position.
3. the indoor occupant navigation positioning system based on shooting displacement according to claim 1, is characterized in that: described camera is an optics convex lens group.
4., according to the localization method of the indoor occupant navigation positioning system based on shooting displacement one of claim 1-3 Suo Shu, it is characterized in that: comprise the following steps:
(1) at left foot or right crus of diaphragm heel position binding locating device;
(2) camera in locating device constantly obtains ground image
(3) by COMS imaging;
(4) DSP digital microprocessor carries out aspect ratio to process according to two imagings before and after COMS, calculates the Distance geometry direction of relative movement;
(5) the result structure of a series of images analyzing and processing forms the track of personnel's movement;
(6) result resolving out is sent to background monitoring platform by DSP digital microprocessor.
5. localization method according to claim 4, is characterized in that: pass through wireless transmission between DSP digital microprocessor and background monitoring platform.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114002689A (en) * | 2020-07-15 | 2022-02-01 | 威马智慧出行科技（上海）有限公司 | Positioning system, positioning method and vehicle |
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| CN102135429A (en) * | 2010-12-29 | 2011-07-27 | 东南大学 | Robot indoor positioning and navigating method based on vision |
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