CN104796866B - Indoor orientation method and device - Google Patents
Indoor orientation method and device Download PDFInfo
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- CN104796866B CN104796866B CN201510226428.2A CN201510226428A CN104796866B CN 104796866 B CN104796866 B CN 104796866B CN 201510226428 A CN201510226428 A CN 201510226428A CN 104796866 B CN104796866 B CN 104796866B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The invention discloses a kind of indoor orientation method and indoor positioning devices, are related to positioning field.Wherein localization method includes：The particle of preset quantity is chosen around user current time position；Each particle is calculated in the new position of subsequent time according to user's walking situation；Calculate probability of the particle as user location on the new position of each particle, and using the probability as the particle subsequent time weight；The mean place of population is calculated according to the new position coordinates and Weight of each particle, and using the mean place of population as user in the position of subsequent time, resampling is carried out to all particles in the weight of subsequent time according to each particle and obtains the new particle of preset quantity, the position of user's subsequent time again is calculated according to the position of new particle, to obtain the position at user's each moment, positioning accuracy is improved.
Description
Technical field
The present invention relates to positioning field, more particularly to a kind of indoor orientation method and indoor positioning device.
Background technology
With the continuous development of Intelligent mobile equipment, the field that is served by based on location information constantly extends.With room
Outer location information service reaches its maturity, such services the trend of oriented fining development, and to indoor expansion.However, different
GNSS (Global Satellite Navigation System) signal is substantially decayed when penetrating building in outdoor environment, indoor environment, and often
There is multi-path signal interference, error is very big indoors, can not use substantially.
Current indoor positioning technologies are mainly based upon RF signal strength and realize positioning, and general there are two types of localization methods：
Three side positioning modes calculate the distance of user and radio-frequency transmissions end according to the RF signal strength that user receives.It is comprehensive
Close the position of at least three transmitting terminals, and the user and each transmitting terminal being calculated distance, it is estimated that the position of user
It sets.
Fingerprint location method needs to select several reference points in the environment in advance, collects each radio-frequency transmissions in each reference point
The intensity of signal.User terminal is strong by comparing the signal of each reference point in the signal strength and database of oneself real-time collecting
The similarity of degree, similarity are bigger, it is believed that and it is apart from corresponding reference point closer, user location is estimated with this.
Above two localization method respectively has some disadvantages.Environment is larger by multipath effect indoors for three side positioning modes, fixed
Position precision is poor.Fingerprint location method needs are in advance scanned environment, collect reference point signal data, and positioning accuracy is joined
The quantity of examination point and the influence of data accuracy are bigger, and reference point quantity is few or indoor environment changes the data for causing reference point
It is no longer accurate, it can all influence positioning accuracy.
Invention content
In order to solve the problems, such as that above-mentioned traditional indoor positioning technologies exist, a kind of indoor orientation method of present invention proposition and room
Interior locating device.
The first aspect of the invention provides a kind of indoor orientation method, including：In user current time position
Around choose preset quantity particle；Each particle is calculated in the new position of subsequent time according to user's walking situation；Every
Calculate probability of the particle as user location on the new position of a particle, and using the probability as the particle subsequent time power
Weight；The mean place of population is calculated according to the new position coordinates and Weight of each particle, and by the average bit of population
Set the position in subsequent time as user；Resampling is carried out according to each particle to all particles in the weight of subsequent time to obtain
To the new particle of preset quantity, the position of user's subsequent time again is calculated according to the position of new particle, it is each to obtain user
The position at moment.
The second aspect of the invention provides a kind of indoor positioning device, including：Particle selection unit, in user
The particle of preset quantity is chosen around current time position；Particle position computing unit, for according to user's walking feelings
Condition calculates each particle in the new position of subsequent time；Granular Weights Computing unit, based on the new position of each particle
Calculate probability of the particle as user location, and using the probability as the particle subsequent time weight；User location determines single
Member, the mean place for calculating population according to the new position coordinates and Weight of each particle, and putting down population
Equal position is as user in the position of subsequent time；The position that user's subsequent time again is calculated according to the position of new particle, to
Obtain the position at user's each moment；Resampling unit, for according to each particle subsequent time weight to all particles
It carries out resampling and obtains the new particle of preset quantity.
The present invention carries out indoor positioning using particle filter, high position precision service can be provided, to room complicated and changeable
Interior environment has stronger adaptability.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without having to pay creative labor, may be used also for those of ordinary skill in the art
With obtain other attached drawings according to these attached drawings.
Fig. 1 is the flow signal of the one embodiment for the indoor orientation method realized the present invention is based on particle filter technology
Figure.
Fig. 2 is the principle schematic of three side positioning modes of the invention.
Fig. 3 is that fingerprint database of the present invention establishes process schematic.
Fig. 4 is the structural representation of the one embodiment for the indoor positioning device realized the present invention is based on particle filter technology
Figure.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.
Fig. 1 is the flow signal of the one embodiment for the indoor orientation method realized the present invention is based on particle filter technology
Figure.As shown in Figure 1, the indoor orientation method of the present embodiment includes：
S102 chooses the particle of preset quantity around user current time position.
Usually, number of particles is more, and positioning accuracy is higher, but calculation amount also can be bigger, therefore can be according to positioning
The requirement of precision and the computing capability of equipment flexibly set number of particles.Such as 100~300 particles can be chosen.
S104 calculates each particle in lower a period of time according to walking situation meter of the user between current time and subsequent time
The new position carved.
S106 calculates probability of the particle as user location on the new position of each particle, and using the probability as this
Weight of the particle in subsequent time.
S108 calculates the mean place of population according to the new position coordinates and Weight of each particle, and by particle
The mean place of group is as user in the position of subsequent time.Such as formula may be usedIt is weighted,
WhereinFor the mean place of population, ZiFor the coordinate value of i-th of particle, wiFor the weight of i-th of particle.
S110 carries out resampling to all particles in the weight of subsequent time according to each particle and obtains the new of preset quantity
Particle.The position of user's subsequent time again can be subsequently calculated according to the position of new particle.It, can be first to each in specific implementation
The weight of particle is normalized, and resampling is carried out according to the particle weights after normalization, to obtain user's each moment
Position.
It is follow-up to position the S104~S110 that repeats the above steps, you can be used after first time positions execution step S102
The position at family each moment and new population.
Resampling, the big particle of weight meeting in population after resampling are carried out to the particle of selection according to the weight of particle
Diffusion, and the small particle of weight can be reduced or be disappeared, to ensure that the user location calculated is approached to true user location.
In addition, the error due to considering dead reckoning in state transition equation (8), i.e. stochastic variable δz+1So that it adopts again
The new particle of same predecessor extraction, can also become different in the transfer of a following next state, ensure population not in sample
It can degenerate to a certain local optimum, ensure the robustness of particle filter.
User current time position in step S102 is also referred to as the initial position of user, in the initial position of user
The particle that the mode randomly selected selects preset quantity may be used.It, can be according to basic in the initial position for determining user
Initial position of the position that localization method estimates as user.
Basic fixed position method for example can be three side positioning modes, fingerprint location method, terrestrial reference identification positioning mode, specifically can root
Different localization methods is selected according to the difference of indoor environment.When indoor environment is complex, such as in office building, radiofrequency signal base
This is in non-line-of-sight propagation, and fingerprint location method may be used.When indoor environment is more spacious, fewer, such as hall, quotient are blocked
Field, underground garage, may be used three side positioning modes.Meanwhile in order to improve positioning accuracy, in the insufficient environment in radio-frequency transmissions source
(for example garage is almost without radio-frequency transmissions source) can increase a certain number of radio-frequency transmissions sources, such as Bluetooth Low Energy transmitting
Source.Illustrate the basic fixed position method that the present invention selects separately below.
Three side positioning modes：
With reference to figure 2, user terminal is subjected to the signal of several emission sources, and existing signal attenuation model is as follows：
RSS=A-10n log10d (1)
Wherein, RSS is receiving end signal intensity；(generally 1m) received signal intensity under distance on the basis of A；N is to decline
Subtracting coefficient, generally 2~4；D is the distance between receiving terminal and transmitting terminal.
According to above-mentioned formula, in known receiving end signal intensity, you can calculate terminal and corresponding signal emitting-source away from
From.The known signal emitting-source each detected is d at a distance from receiver1,d2,...,dn, each emission source coordinate is (x1,
y1),(x2,y2),...,(xn,yn), using least square method can computing terminal coordinate estimated value (xu,yu), it calculates public
Formula is as follows：
Preceding n-1 formula is individually subtracted n-th of formula and can obtain：
If setting：
Then obtain：
AX=B (3)
Transformation above formula obtains formula X=A-1B, result of calculation X are the coordinate of user.In order to calculate the coordinate of user,
3 information sources are at least needed, as shown in Fig. 2, the signal of information source 1, information source 2, information source 3 can be received at user location, are utilized
These signals can determine the position where user.
Above-mentioned is the computational methods of three side positioning modes.
Fingerprint location method：
Before realizing fingerprint location function, need first to establish fingerprint database.With reference to figure 4, first, determined on map
It realizes the region of positioning, and plans several sweep circuits in region so that sweep circuit can cover the area of the positioning substantially
Domain.Scanning staff needs hand-held data gathering equipment, and along the route walking of planning, equipment constantly records each radio frequency received on the way
The signal strength of signal calculates the position of every group of RF signal strength data collection according to path, thus, it is possible to generate position
Information and the one-to-one database of signal strength data, the database will can be used for positioning.
In addition, since the change of environment would be possible to influence the propagation path and magnetic field intensity of radiofrequency signal, refer to
Line database needs regularly update, and the process of establishing that renewal process can refer to above-mentioned fingerprint database is realized.
In positioning stage, user terminal receives the signal strength information (RSSI of several information sources at any time1,
RSSI2,…,RSSIn) with fingerprint database in each reference point signal strength information carry out signal space distance calculating.Letter
Number space length it is small be considered as actual geographic apart from small.Signal space distance can refer to following formula calculating：
Wherein dkIt is the signal space distance of k-th of reference point and user current location,It is that reference point k is collected
Information source i signal strength, RSSIiIt is the signal strength for the information source i that user receives.Q is space factor, when q=1, dkFor graceful Kazakhstan
Distance, when q=2, dkFor Euclidean distance.
According to the signal space distance of each reference point of calculating and user current location, it is minimum to filter out signal space distance
Alternative reference point of several reference points as user current location, then according to the current position of calculated with weighted average method user
It sets：
Wherein, ZUIt is the current position of the user of calculating, m is the number of alternative reference point,Indicate j-th of reference
The coordinate of point.
Above-mentioned is the fingerprint location method that the present invention uses.
Terrestrial reference identifies positioning mode：
It is scattered with many radio-frequency transmissions sources in localization region, can be received from the position where user several next spontaneous
The signal for penetrating source, since each emission source is different from the distance between user, what usually user received comes from different transmittings
The signal strength in source is also different, and the position where the strongest emission source of the signal strength that user is received is as the current institute of user
Position.Terrestrial reference identification positioning mode is easier to realize, in radio-frequency transmissions source than that in the indoor environment of comparatively dense, can also reach
To certain positioning accuracy.
In order to further increase the reliability of position differentiation, above-mentioned basic fixed position method can be combined and be determined
Position.Three side positioning modes or fingerprint location method are assisted to be positioned for example, land used identifies other positioning mode.
In step S104, each particle is calculated in the new position of subsequent time according to user's walking situation, namely determine
The state of particle shifts, such as following methods realization may be used：
S104A determines that the step-length of user, formula are as follows according to the height of user and cadence：
Ls=H (af+b) (6)
In formula, LsIt is user's step-length of estimation, H is the height of user, and f is the cadence of user, and a and b are coefficients.Coefficient can
To pre-set, obtained according to experiment or experience.According to the step-length and step number of calculating, the displacement of user can be calculated.
Wherein, the height of user can be inputted by user, and the cadence and step number of user can be obtained by calculation.The present invention
It is proposed a kind of method that the acceleration information according on vertical direction determines cadence and step number.First, vertical direction is obtained
Acceleration information, specifically, the acceleration transducer in user terminal can obtain 3-axis acceleration data, by 3-axis acceleration number
It is projected according on gravity direction, you can obtain the acceleration information on vertical direction.Secondly, in people's walking process, body
Know from experience fluctuation up and down therewith, in the case where terminal and body relative position are basically unchanged (for example terminal is held in front), vertically
The fluctuation in direction is typically due to paces generation, is not influenced substantially by other interference, therefore the acceleration information of vertical direction
Can be used for detect paces, within the scope of normal cadence (such as 1-2Hz) a cycle of vertical direction fluctuated up and down can
To be considered as a step, to identify single paces.After being consecutively detected certain step number by the above method simultaneously, to this
The acceleration information of section vertical direction carries out Fourier transformation, obtains the peak point between 1-2Hz as cadence f.
In addition, although intelligent terminal can also obtain the data of direct acceleration and gyroscope posture, due to sensing
The limitation of device precision directly carries out user's positioning with acceleration information and gyro data and has very big error, and with originally
The method of the material calculation of invention can then ensure certain precision.
S104B, the magnetic field sensor held according to the direction value at user's current time, user is in the side that subsequent time measures
The angle-determining user's subsequent time rotated between to the current time and two moment of subsequent time of value and gyroscope determination
Direction value.
The direction of travel of user and the top of intelligent terminal are towards identical, it is contemplated that terminal not fully water when in use
Flat, according to the gravity direction of calculating, user direction actual correction is at the top of terminal towards projection in the horizontal direction.The row of user
Walking direction can determine by the data of two sensors of magnetic field sensor and gyroscope inside intelligent terminal.Magnetic field sensing
Device can determine the direction of magnetic north, and since the precision in magnetic field is poor, the spirit that gyro data improves direction is added in the present invention
Sensitivity.For example, by using the method for Kalman filtering, the direction value of user's subsequent time is determined using following formula：
Wherein, θk+1Indicate the direction value of user's subsequent time, θkIndicate the direction value at user's current time,Indicate magnetic
The direction value that field sensor is measured in subsequent time, ωk+1Indicate two moment at the current time and subsequent time that gyroscope determines
Between the angle that rotates, α indicates that the variance of magnetic field sensor, β indicate the variance of gyroscope, can empirically or experimentally determination side
Difference.In the present invention, α is selected>10 β, to ensure that gained angle value is mainly determined by magnetic field.
S104C, according to the position at each particle current time, the step number that user is walked between two moment and the vector often walked
Each particle is calculated in the new position of subsequent time.For example, each particle can be calculated in subsequent time using following formula
New position：
Wherein,Particle is indicated in the new position of subsequent time,Indicate the position at particle current time,It indicates
The vector representation that user i-th grows step by step between two moment of current time and subsequent time, the size of the vector are the step-length of determination, should
The direction of vector is the direction value of determining user's subsequent time,For according to the mistake in paces direction and the position of displacement calculating
Difference can be obtained empirically or experimentally.
In step s 106, probability of the particle as user location is calculated on the new position of each particle, and this is general
Rate as the particle subsequent time weight.A kind of illustrative implementation method can calculate particle and be arrived in new position detection
Each information source signal strength probability density, according to the probability density of the signal strength of each information source and joint probability distribution meter
Calculate particle and be collected into the probability of this group of signal strength in new position, and as the particle subsequent time weight.Below with three
Side positioning mode and fingerprint location method illustrate the computational methods of particle weights.
In three side positioning modes, user any position Z particle weights according to the signal strength information of current information source
(RSSI1,RSSI2,…,RSSIn) calculate.
Firstly, since have noise jamming in practice, therefore the signal attenuation model for considering noise is：
RSSI=A-10nlog10d+Xδ (9)
Wherein, XδThe noise for being zero for Gaussian distributed mean value.For known position Z, d be Z and information source away from
From, measured signal intensity will not be a definite value at this time, but in Gaussian Profile, it can calculate and take office in position Z detections
The signal strength RSSI of information source of anticipating iiProbability density：
In formula, diFor the distance of given position Z and i-th of information source, σ is variance, and the meaning of A and n are referring in formula (1)
Illustrate, which is not described herein again.
The probability for being collected into one group of signal strength in this position can be obtained according to the formula of joint probability distribution as a result, as
The particle weights w of Z in positionz。
wz=F (RSSI1,RSSI2,..,RSSIn)=f (RSSI1)f(RSSI2)...f(RSSIn) (11)
In fingerprint location method, RF signal strength and Magnetic Field have been collected simultaneously in being generated due to fingerprint base.Meter
When calculating the weight of particle, magnetic field and RF signal strength can be used to judge.
First, it according to RF signal strength, if given position is not reference point, needs first according to known reference point
Carry out the signal strength of Interpolate estimation given position.The a certain range of reference point of given position is chosen, to any information source k,
Given position calculates its signal strength average value by the method for linear interpolation：
Then detect that i-th of its signal strength of information source is RSSIiProbability be：
Thus, it is possible to according to the probability of each information source and the formula of joint probability distribution, calculates and received on a certain position Z
Collect the probability of one group of signal strength：
wz=F (RSSI1,RSSI2,..,RSSIn)=f (RSSI1)f(RSSI2)...f(RSSIn) (14)
Further, the probability that following methods can also be used to be collected into this group of signal strength in new position to particle is repaiied
Just：
Secondly, continuous magnetic field data is sampled into poor (DH1,...,DHn-1) and (DV1,...,DVn-1) and magnetic field finger print data stream
The similarity of each segment is compared, and chooses the corresponding position Z of the maximum magnetic field finger print data flow section of similarityMAs most may be used
The user location of energy.
Finally, with position ZMCentered on, particle is received in new position according to most probable user location and its similarity
The probability for collecting this group of signal strength is modified.Such as following formula may be used and be modified：
Wherein δ is the similarity of the most like pattern obtained according to pattern matching primitives.Similarity is bigger, ZMPosition is to grain
The contribution of sub- weight calculation is bigger.
Above-mentioned granular Weights Computing method has merged the probability calculation based on signal strength, and the magnetic field number continuously collected
It is matched according to flow graph sample as a result, COMPREHENSIVE CALCULATING particle weight, the weight of calculating is more accurate.
In the present invention, basic fixed position part can be calculated by terminal and be completed, and can also be calculated and be completed by server, and high
The calculation amount that particle filter in precision positioning service needs is larger, the operation and battery power consumption demand to handheld terminal compared with
Greatly, it therefore can select the signal strength of collection and built-in sensors data uploading high in the clouds, and be calculated beyond the clouds, then
Result is fed back into terminal again.
Fig. 4 is the structural representation for the indoor positioning device further embodiment realized the present invention is based on particle filter technology
Figure.As shown in figure 4, the indoor positioning device 400 of the present embodiment includes：
Particle selection unit 402, the particle for choosing preset quantity around user current time position；
Particle position computing unit 404, for calculating each particle in the new position of subsequent time according to user's walking situation
It sets；
Granular Weights Computing unit 406, for calculating particle on the new position of each particle as the general of user location
Rate, and using the probability as the particle subsequent time weight；
User location determination unit 408, for calculating population according to the new position coordinates and Weight of each particle
Mean place, and using the mean place of population as user in the position of subsequent time.
Resampling unit 410 is obtained for carrying out resampling to all particles in the weight of subsequent time according to each particle
To the new particle of preset quantity.Then user location determination unit, for calculating user's subsequent time again according to the position of new particle
Position, to obtain the position at user's each moment.
In one embodiment, particle position computing unit 404, is specifically used for：It is determined according to the height of user and cadence
The step-length of user；The magnetic field sensor held according to the direction value at user's current time, user is in the direction that subsequent time measures
The side at value and the gyroscope current time determined and the angle-determining user's subsequent time rotated between two moment of subsequent time
To value；It is each according to the position at each particle current time, the step number that user is walked between two moment and the Vector operation often walked
Particle is in the new position of subsequent time.
In one embodiment, particle position computing unit 404 determines cadence according to the acceleration information on vertical direction
And step number.
In one embodiment, particle position computing unit 404 determines the direction of user's subsequent time using following formula
Value：
Wherein, θk+1Indicate the direction value of user's subsequent time, θkIndicate the direction value at user's current time,Indicate magnetic
The direction value that field sensor is measured in subsequent time, ωk+1Indicate two moment at the current time and subsequent time that gyroscope determines
Between the angle that rotates, α indicates that the variance of magnetic field sensor, β indicate the variance of gyroscope.
In one embodiment, particle position computing unit 404 calculates each particle in subsequent time using following formula
New position：
Wherein,Particle is indicated in the new position of subsequent time,Indicate the position at particle current time,Expression is worked as
The vector representation that user i-th grows step by step between two moment of preceding moment and subsequent time, the size of the vector are the step-length of determination, the arrow
The direction of amount is the direction value of determining user's subsequent time,For according to the mistake in paces direction and the position of displacement calculating
Difference.
In one embodiment, granular Weights Computing unit 406, is specifically used for：Calculate what particle was arrived in new position detection
The probability density of the signal strength of each information source；It is calculated according to the probability density of the signal strength of each information source and joint probability distribution
Particle is collected into the probability of this group of signal strength in new position, and as the particle subsequent time weight.
In one embodiment, granular Weights Computing unit 406 is additionally operable to receive particle in new position using following methods
The probability for collecting this group of signal strength is modified：When having the fingerprint database previously acquired in the environment of application, calculating is worked as
Continuous magnetic field data sampling between preceding moment and subsequent time is poor；Continuous magnetic field data sampling difference is each with magnetic field finger print data stream
The similarity of segment is compared, and chooses the maximum magnetic field finger print data flow section of similarity, if similarity is more than a threshold value
ψ, then it is assumed that the corresponding final position of magnetic field data flow section is the most probable user location Z calculated according to magnetic fieldM；According to
ZMMost probable user location and its similarity weight W that particle is calculated with the signal strength of radiofrequency signalZIt is modified：
Wherein F (RSSI1,RSSI2,...,RSSIn) it is according to signal
The joint probability of Strength co-mputation, δ are the similarities of the most like pattern arrived obtained according to pattern matching primitives.Illustrate magnetic chart
Sample similarity is bigger, ZMParticle weights bigger around position.
User current time position is also referred to as the initial position of user, therefore indoor positioning device can also include：
Initial user position determination unit, for determining user using three side positioning modes, fingerprint location method or terrestrial reference identification positioning mode
Current time position.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (14)
1. a kind of indoor orientation method, which is characterized in that including：
The particle of preset quantity is chosen around user current time position；
Each particle is calculated in the new position of subsequent time according to user's walking situation；
Probability of the particle as user location is calculated on the new position of each particle, and using the probability as the particle next
The weight at moment；
The mean place of population is calculated according to the new position coordinates and Weight of each particle, and by the average bit of population
Set the position in subsequent time as user；
Resampling is carried out to all particles in the weight of subsequent time according to each particle and obtains the new particle of preset quantity, according to
The position of new particle calculates the position of user's subsequent time again, to obtain the position at user's each moment；
The probability is modified using following methods：
The continuous magnetic field data sampling calculated between current time and subsequent time is poor；
Continuous magnetic field data sampling difference is compared with the similarity of each segment of magnetic field finger print data stream, it is maximum to choose similarity
The corresponding position of magnetic field finger print data flow section as most probable user location；
According to most probable user location and its similarity, the probability of particle is modified using following formula,
Wherein, wzIt indicates to correct particle probability as user location of the anteposition at the Z of position, WzIt indicates to be located at position Z after correcting
Probability of the particle at place as user location, δ indicate maximum similarity, ZMIndicate most probable user location.
2. the method as described in claim 1, which is characterized in that described to walk each particle of situation calculating next according to user
The new position at moment includes：
The step-length of user is determined according to the height of user and cadence；
The direction value and top that the magnetic field sensor held according to the direction value at user's current time, user is measured in subsequent time
The direction value of the angle-determining user's subsequent time rotated between current time and two moment of subsequent time that spiral shell instrument determines；
According to the position at each particle current time, the step number that user is walked between two moment and each grain of the Vector operation often walked
Son is in the new position of subsequent time.
3. method as claimed in claim 2, which is characterized in that determine cadence and step according to the acceleration information on vertical direction
Number.
4. method as claimed in claim 2, which is characterized in that determine the direction value of user's subsequent time using following formula：
Wherein, θk+1Indicate the direction value of user's subsequent time, θkIndicate the direction value at user's current time,Indicate that magnetic field passes
The direction value that sensor is measured in subsequent time, ωk+1It indicates the current time that gyroscope determines and is revolved between two moment of subsequent time
The angle turned, α indicate that the variance of magnetic field sensor, β indicate the variance of gyroscope.
5. method as claimed in claim 2, which is characterized in that calculate each particle in the new of subsequent time using following formula
Position：
Wherein,Particle is indicated in the new position of subsequent time,Indicate the position at particle current time,When indicating current
The vector representation grown step by step user i-th between two moment of subsequent time is carved, the size of the vector is the step-length of determination, the vector
Direction is the direction value of determining user's subsequent time,For according to the error in paces direction and the position of displacement calculating.
6. the method as described in claim 1, which is characterized in that the particle that calculated on the new position of each particle is as use
The probability of family position, and the weight using the probability as the particle in subsequent time includes：
The probability density of the signal strength instantly for each information source that estimation particle is arrived in new position detection；
According to the corresponding probability density of signal strength instantly and joint probability calculation method of each information source, particle is calculated in new position
Set the probability for being collected into the signal strength instantly from each information source, and as the particle subsequent time weight.
7. the method as described in claim 1, which is characterized in that identified using three side positioning modes, fingerprint location method or terrestrial reference
Positioning mode determines user current time position.
8. a kind of indoor positioning device, which is characterized in that including：
Particle selection unit, the particle for choosing preset quantity around user current time position；
Particle position computing unit, for calculating each particle in the new position of subsequent time according to user's walking situation；
Granular Weights Computing unit, for calculating probability of the particle as user location on the new position of each particle, and will
The probability as the particle subsequent time weight；
User location determination unit, the average bit for calculating population according to the new position coordinates and Weight of each particle
It sets, and using the mean place of population as user in the position of subsequent time；It is additionally operable to be obtained according to resampling unit new
The position of particle calculates the position of user's subsequent time again, to obtain the position at user's each moment；
Resampling unit obtains present count for carrying out resampling to all particles in the weight of subsequent time according to each particle
The new particle of amount；
The granular Weights Computing unit is additionally operable to be modified the probability using following methods：
The continuous magnetic field data sampling calculated between current time and subsequent time is poor；
Continuous magnetic field data sampling difference is compared with the similarity of each segment of magnetic field finger print data stream, it is maximum to choose similarity
The corresponding position of magnetic field finger print data flow section as most probable user location；
According to most probable user location and its similarity, the probability of particle is modified using following formula,
Wherein, wzIt indicates to correct particle probability as user location of the anteposition at the Z of position, WzIt indicates to be located at position Z after correcting
Probability of the particle at place as user location, δ indicate maximum similarity, ZMIndicate most probable user location.
9. device as claimed in claim 8, which is characterized in that the particle position computing unit is specifically used for：
The step-length of user is determined according to the height of user and cadence；
The direction value and top that the magnetic field sensor held according to the direction value at user's current time, user is measured in subsequent time
The direction value of the angle-determining user's subsequent time rotated between current time and two moment of subsequent time that spiral shell instrument determines；
According to the position at each particle current time, the step number that user is walked between two moment and each grain of the Vector operation often walked
Son is in the new position of subsequent time.
10. device as claimed in claim 9, which is characterized in that the particle position computing unit is according on vertical direction
Acceleration information determines cadence and step number.
11. device as claimed in claim 9, which is characterized in that the particle position computing unit is determined using following formula
The direction value of user's subsequent time：
Wherein, θk+1Indicate the direction value of user's subsequent time, θkIndicate the direction value at user's current time,Indicate that magnetic field passes
The direction value that sensor is measured in subsequent time, ωk+1It indicates the current time that gyroscope determines and is revolved between two moment of subsequent time
The angle turned, α indicate that the variance of magnetic field sensor, β indicate the variance of gyroscope.
12. device as claimed in claim 9, which is characterized in that the particle position computing unit is calculated using following formula
Each particle is in the new position of subsequent time：
Wherein,Particle is indicated in the new position of subsequent time,Indicate the position at particle current time,When indicating current
The vector representation grown step by step user i-th between two moment of subsequent time is carved, the size of the vector is the step-length of determination, the vector
Direction is the direction value of determining user's subsequent time,For according to the error in paces direction and the position of displacement calculating.
13. device as claimed in claim 8, which is characterized in that the granular Weights Computing unit is specifically used for：
The probability density of the signal strength instantly for each information source that estimation particle is arrived in new position detection；
According to the corresponding probability density of signal strength instantly and joint probability calculation method of each information source, particle is calculated in new position
Set the probability for being collected into the signal strength instantly from each information source, and as the particle subsequent time weight.
14. device as claimed in claim 8, which is characterized in that further include：Initial user position determination unit, for utilizing
Three side positioning modes, fingerprint location method or terrestrial reference identification positioning mode determine user current time position.
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