CN105043387A - Personal indoor positioning system based on inertial navigation aiding geomagnetism - Google Patents

Abstract

The invention relates to a personal indoor positioning system based on inertial navigation aiding geomagnetism. The personal indoor positioning system without needing to rely on an external device can be realized by the otherness of the earth magnetic field on different spots, a smart phone based on an Android platform and the selective appropriate geomagnetic matching algorithm; an inertial navigation technology is utilized for obtaining the relative position of a mobile individual, and then local search is performed and an optimum magnetic field spot is matched by an MSD (mean square displacement) geomagnetic localization algorithm, the relatively accurate parameter of the position of the mobile individual can be obtained, so that the mobile phone indoor positioning function can be realized. According to the combined locate mode based on the inertial navigation aiding geomagnetism, the geomagnetic information matching efficiency is effectively improved, the higher indoor positioning accuracy is obtained, the personal indoor positioning can be realized by only needing a built-in sensor device of the mobile phone and no need to rely on an additional device erected outside, the usage is convenient, the cost is low and the personal indoor positioning system is easy to be popularized.

Description

The individual indoor locating system of earth magnetism is assisted based on inertial navigation

Technical field

Patent of the present invention relates to mobile phone indoor positioning field, is specifically related to a kind of individual indoor locating system of assisting earth magnetism based on inertial navigation.

Background technology

Along with the develop rapidly of science and technology, research about mobile positioning technique direction was making great progress in recent years, comprise GPS indoor positioning, light is with chasing after location, bluetooth is located, Wifi indoor positioning, Zigbee indoor positioning etc., specifically mainly comprise GoogleMap, high moral map, GoogleMap, seek deer etc., but these locator meamss all need to set up relevant device in addition, as GPS location needs satellite, Wifi location needs to set up enough Wifi nodes, Zigbee indoor positioning needs the Zigbee node at least laying more than three in indoor to form wireless sensing module.But above-mentioned locator meams needs to build complicated peripheral hardware infrastructure device and hardware assist device, expense is very large, is unfavorable for widely using.

Summary of the invention

The technical problem to be solved in the present invention is for above-mentioned technical matters, a kind of individual indoor locating system of assisting earth magnetism based on inertial navigation is provided, do not need to build complicated peripheral hardware infrastructure device, do not need to change smart mobile phone structure yet, only rely on common smart mobile phone and can obtain good indoor position accuracy, significantly can reduce the expensive expense that additional hardware utility appliance is brought, user uses safe and reliable, simple and convenient, economical convenient.

For solving the problems of the technologies described above, the present invention adopts following technical scheme:

Assist an individual indoor locating system for earth magnetism based on inertial navigation, be arranged on mobile vehicle; It is characterized in that: mainly comprise a smart mobile phone based on Android platform, the built-in gyroscope of described smart mobile phone, accelerometer, magnetometer; Smart mobile phone obtains the rotation angle of carrier, displacement, position angle respectively by described gyroscope, accelerometer, magnetometer, then by measuring the Geomagnetism Information in carrier region, builds interior of mobile phone earth magnetism reference map; In mobile vehicle moving process, utilize inertial navigation technology to carry out relative positioning, obtain carrier relative position in three dimensions, then gone out the best Location information of mobile vehicle by MSD geomagnetic matching algorithmic match.

In technique scheme, described assists the individual indoor locating system positioning work of earth magnetism to comprise the steps: based on inertial navigation

Step S1: scanned by the geomagnetic data of embedded in mobile phone magnetometer to carrier region, obtain the earth magnetism reference map information in region and be stored in mobile phone, build interior of mobile phone earth magnetism reference map, draw mobile phone plane map in proportion according to actual scene simultaneously;

Step S2: mobile vehicle starts mobile, when under carrier movement to indoor positioning environment, by locating the relative position obtaining carrier in inertial navigation system, searches out a new local earth magnetism reference map based on this relative position from earth magnetism reference map;

Step S3: the magnetic vector being measured carrier present position by embedded in mobile phone magnetometer in real time; And magnetic vector is converted into two dimension amount from three-dimensional amount;

Step S4: the magnetic vector after measurement transforms by mobile phone and local earth magnetism reference map carry out MSD geomagnetic matching algorithmic match, data after geomagnetic matching algorithm process are stored in smart mobile phone, then carrier position is presented on mobile phone plane map, thus realizes the position that smart mobile phone shows carrier in real time.

In technique scheme, before step S1, smart mobile phone needs to carry out data acquisition, mainly comprises the data acquisition of magnetometer, gyroscope and accelerometer.

In technique scheme, in step S2, described relative position and embedded in mobile phone accelerometer relation as follows:

$v_m={\∫}_{t_0}^{t_m}adt+v_0$

$\mathrm{\Δ}s={\stackrel{\‾}{v}}_m\mathrm{\Δ}t+{\∫}_{t_0}^{t_m}{v}_{m}dt$

Wherein v ₀, v _mrepresent t respectively ₀, t _mmoment mobile phone linear velocity, a is the acceleration on mobile phone direction, for t ₀to t _maverage velocity, Δ s is the relative displacement of mobile phone.

In technique scheme, in step S3, the size of the magnetic field magnetic vector that magnetometer records and the relation in direction as follows:

M(r,t)＝M _m(r,t)+M _c(r)+M _d(r,t)

In formula, M represents magnetic field total intensity, M _mrepresent main terrestrial magnetic field, M _crepresent earth's crust terrestrial magnetic field, M _drepresent magnetic field intrusively; R represents carrier present position, and t represents the time;

Magnetic vector is converted into the process of two dimension amount from three-dimensional amount: M, H, project on terrestrial coordinate system three axles relation of Mx, My, Mz of φ four factor and M is as follows:

$M=\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2+{\mathrm{Mz}}^2}$

$H=\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2}$

$\mathrm{\φ}=arctan\left(\frac{Mz}{\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2}}\right)$

In formula, magnetic field total intensity M represents, it is projected northeast plane and obtains H, be called horizontal intensity; H is projected East and West direction axle, obtain East and West direction field intensity Mx; In like manner, H is projected north-south axle, obtain north-south field intensity My; Its represent magnetic declination, φ represents magnetic dip.

In technique scheme, when being mated with local earth magnetism reference map by measurement magnetic vector in step S4, use geomagnetic matching algorithm mean square deviation MSD to obtain absolute position, it is as follows that its geomagnetic matching mean square deviation MSD obtains relational expression:

$D(u,v)=\frac{1}{N}\underset{i=1}{\overset{N}{\Σ}}{(N_{uv+i}-m_i)}^2$

D (u, v) in above formula is geomagnetic matching related function, N _uv+irepresent the characteristic quantity on the position (u, v+i) of benchmark database, m _irepresent i-th characteristic quantity measured in real time, N represents always counting of related data.

Thus, the present invention is different from traditional indoor positioning mode, do not need to build complicated peripheral hardware infrastructure device, can, not changing smart mobile phone structure, not relying on the basis of outside erection relevant device, inertial navigation be only utilized to assist the sensor device of MSD (MeanSquareDeviation) earth magnetism location algorithm and embedded in mobile phone just can reach the positioning function of a degree of precision.Also namely user only needs the Android intelligent of a built-in sensor device, and the Magnetic Field inherently utilizing the earth to provide, can realize indoor positioning.User uses safe and reliable, simple and convenient, economical convenient.Further, the present invention utilizes inertial navigation technology to assist MSD earth magnetism location algorithm, reduce the matching range of earth magnetism reference map, reduce geomagnetic matching calculated amount, good indoor position accuracy can be obtained, this mode is applicable to the indoor positioning in shopping mall market, conference and exhibition center and Large Underground garage parking etc., and being decided to be precision can reach 1.0M ~ 2.0M, its commercial market Huge value.

Accompanying drawing explanation

Fig. 1 the present invention is based on the individual indoor locating system schematic diagram that earth magnetism is assisted in inertial navigation;

Fig. 2 is the geomagnetic matching positioning system block diagram that the present invention relates to;

Fig. 3 is that MSD algorithm positioning flow figure is assisted in inertial navigation of the present invention;

Fig. 4 is the earth magnetism physical quantity graph of a relation that the present invention relates to.

Embodiment

In order to further illustrate technical scheme of the present invention, the present invention will be described in detail for contrast accompanying drawing 1-4.

The individual indoor locating system of assisting earth magnetism based on inertial navigation that the present invention relates to, for the real-time location of carrier when indoor sport, comprise an Android intelligent (there is the CPU processor of high speed multinuclear or monokaryon) be arranged on mobile vehicle, described mobile vehicle is the mobile individuality that can carry Android intelligent, can independently or passive move (if mobile vehicle is behaved or the moveable object not with smart machine, then control mobile phone by people or loose impediment to move, if mobile vehicle is intelligent mobile agent, then mobile phone controls mobile by intelligent body and can realize communication with mobile phone), described smart mobile phone is equipped with gyroscope, acceleration sensor, geomagnetic sensor, wherein gyroscope (Gyroscope, GYRO-Sensor) is also ground sensor, traditional structure is that inside has individual gyro, the principle of work of three-axis gyroscope is by the angle between the Z-axis of gyrorotor in perception three-dimensional system of coordinate and equipment, and calculate angular velocity, differentiate that object is in three-dimensional motion state by angle and angular velocity.Three-axis gyroscope can simultaneously 6 directions (compound direction can be analyzed to triaxial coordinate equally) such as perception up, down, left, right, before and after, finally can judge motion track and the acceleration of equipment; Acceleration sensor (Accelerometer, G-Sensor) be also gravity sensor, carry out perception along the acceleration in the vertical direction of earth's surface by perception carrier at certain stressing conditions axially, being actually can acceleration on perception any direction; Geomagnetic sensor is used for perception carrier magnetic field intensity and direction, can also the orientation of positioning carrier, and the principle of work of magnetometer is all very similar in a lot of with the principle of work of compass in fact, perception can go out angle on present carrier and all directions four direction.

All realize in Android intelligent in the present invention, inertial navigation of the present invention auxiliarily magnetic orientation system is mainly divided into earth magnetism acquisition module, inertial navigation system, earth magnetism Orientation and Matching Algorithm module.Earth magnetism acquisition module mainly completes geomagnetic sensor module data and reads and pretreatment work, is scanned by the geomagnetic data of high-precision three axle magnetometers to region of mobile phone, obtains the earth magnetism reference map information in region, and uploads to mobile phone; Inertial navigation system schematic diagram is (corresponding diagram 1 is described) as shown in Figure 1, as shown in Figure 1,3 linear acceleration numerical value and 3 angular velocity numerical value of mobile vehicle are obtained respectively according to the gyroscope in mobile phone accelerometer and mobile phone, then mobile phone acceleration is carried out coordinate transform, mobile phone angular velocity is carried out Attitude Calculation, through Kalman filtering, navigation calculates, and can obtain the navigation informations such as the position at mobile phone and mobile vehicle place, speed, attitude.

Geomagnetic matching positioning system block diagram as shown in Figure 2, as shown in Figure 2, during navigation, is first stored in survey measured Geomagnetism Information in advance on mobile phone, forms Numerical Geomagnetic reference map, and draws mobile phone plane map in proportion according to actual scene simultaneously.When carrier movement is to specific matching region, measured the magnetic signature of present position by mobile phone Magnetic Sensor, after carrier movement a period of time, measure and obtain a series of real-time magnetic field eigenwert, be called for short and measure sequence.Measurement sequence is carried out corresponding coupling to reference map, finds out the position sequence matched most with measurement sequence in reference map, in this, as the location estimation information of carrier.

Fig. 3 is that MSD algorithm positioning flow figure is assisted in inertial navigation, mainly comprises the following steps:

Step S1: intelligent mobile phone sensor data acquisition, mainly comprises the data acquisition of magnetometer, gyroscope and accelerometer.

Step S2: scanned by the geomagnetic data of high-precision three axle magnetometers to region of mobile phone, obtain the earth magnetism reference map information in region, and store in mobile phone, build interior of mobile phone earth magnetism reference map, draw mobile phone plane map in proportion according to actual scene simultaneously;

Step S3: when under carrier movement to indoor positioning environment, is obtained the relative position of locating by inertial navigation system, can search out a new local earth magnetism reference map based on this relative position from earth magnetism reference map;

Step S4: the magnetic vector being measured present position by embedded in mobile phone Magnetic Sensor in real time, the size in the magnetic field recorded by sensor and the relation in direction as follows:

M(r,t)＝M _m(r,t)+M _c(r)+M _d(r,t)

In formula, M represents magnetic field total intensity, M _mrepresent main terrestrial magnetic field, M _crepresent earth's crust terrestrial magnetic field, M _drepresent magnetic field intrusively;

Then, by attitude algorithm by three directions of earth magnetism resolution of vectors to terrestrial coordinate system, X-direction magnetic-field component is approximately zero and can ignores, can by ground magnetic vector from three-dimensional amount be converted into two dimension amount, earth magnetism physical quantity graph of a relation as Fig. 4, M, H, project on three axles relation of Mx, My, Mz of φ four factor and M is as follows, the expression of each physical quantity as shown in Figure 4:

$M=\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2+{\mathrm{Mz}}^2}$

$H=\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2}$

$\mathrm{\φ}=\arctan \left(\frac{Mz}{\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2}}\right)$

In formula, magnetic field total intensity M represents, it is projected northeast plane and obtains H, be called horizontal intensity; H is projected East and West direction axle, obtain East and West direction field intensity Mx; In like manner, H is projected north-south axle, obtain north-south field intensity My; Wherein represent magnetic declination, φ represents magnetic dip;

Step S5: measurement magnetic vector is carried out corresponding coupling to local earth magnetism reference map, use geomagnetic matching algorithm mean square deviation MSD to obtain absolute position, its geomagnetic matching mean square deviation algorithm is as follows:

$D(u,v)=\frac{1}{N}\underset{i=1}{\overset{N}{\Σ}}{(N_{uv+i}-m_i)}^2$

D (u, v) in above formula is geomagnetic matching related function, N _uv+irepresent the characteristic quantity on the position (u, v+i) of benchmark database, m _irepresent i-th characteristic quantity measured in real time, N represents always counting of related data.

Step S6: the position data after process is converted on mobile phone plane map, thus realize the position that cellphone subscriber shows self in real time.

To sum up, the present invention utilizes inertial navigation technology to carry out position to mobile individuality to estimate in advance, obtains one and estimates position, then carries out Local Search and by MSD earth magnetism location algorithm coupling optimum magnetic field point, individual Location parameter is moved more accurately to obtain, thus realize mobile phone indoor positioning function, be different from traditional indoor positioning mode, do not need to build complicated peripheral hardware infrastructure device, user uses safe and reliable, simple and convenient, economical convenient, there is economy and practical value.

Claims (6)

1. assist an individual indoor locating system for earth magnetism based on inertial navigation, be arranged on mobile vehicle; It is characterized in that: mainly comprise a smart mobile phone based on Android platform, the built-in gyroscope of described smart mobile phone, accelerometer, magnetometer; Smart mobile phone obtains the rotation angle of carrier, displacement, position angle respectively by described gyroscope, accelerometer, magnetometer, then by measuring the Geomagnetism Information in carrier region, builds interior of mobile phone earth magnetism reference map; Mobile vehicle starts mobile, and in moving process, utilize inertial navigation technology to carry out relative positioning, obtains carrier relative position in three dimensions, is then gone out the best Location information of mobile vehicle by MSD geomagnetic matching algorithmic match.

2. individual indoor locating system of assisting earth magnetism based on inertial navigation according to claim 1, is characterized in that: comprise the steps:

Step S1: scanned by the geomagnetic data of embedded in mobile phone magnetometer to carrier region, obtain the earth magnetism reference map information in region and be stored in mobile phone, build interior of mobile phone earth magnetism reference map, draw mobile phone plane map in proportion according to actual scene simultaneously;

Step S2: mobile vehicle starts mobile, when under carrier movement to indoor positioning environment, by locating the relative position obtaining carrier in inertial navigation system, searches out a new local earth magnetism reference map based on this relative position from earth magnetism reference map;

Step S3: the magnetic vector being measured carrier present position by embedded in mobile phone magnetometer in real time; And magnetic vector is converted into two dimension amount from three-dimensional amount;

Step S4: the magnetic vector after measurement transforms by mobile phone and local earth magnetism reference map carry out MSD geomagnetic matching algorithmic match, data after geomagnetic matching algorithm process are stored in smart mobile phone, then carrier position is presented on mobile phone plane map, thus realizes the position that smart mobile phone shows carrier in real time.

3. individual indoor locating system of assisting earth magnetism based on inertial navigation according to claim 2, is characterized in that: before step S1, and smart mobile phone needs to carry out data acquisition, mainly comprises the data acquisition of magnetometer, gyroscope and accelerometer.

4. individual indoor locating system of assisting earth magnetism based on inertial navigation according to claim 2, is characterized in that: in step S2, described relative position and embedded in mobile phone accelerometer relation as follows:

$v_m={\∫}_{t_0}^{t_m}adt+v_0$

$\mathrm{\Δ}s={\stackrel{\‾}{v}}_m\mathrm{\Δ}t+{\∫}_{t_0}^{t_m}{v}_{m}dt$

Wherein v ₀, v _mrepresent t respectively ₀, t _mmoment mobile phone linear velocity, a is the acceleration on mobile phone direction, for t ₀to t _maverage velocity, Δ s is the relative displacement of mobile phone.

5. individual indoor locating system of assisting earth magnetism based on inertial navigation according to claim 2, is characterized in that: in step S3, the size of the magnetic field magnetic vector that magnetometer records and the relation in direction as follows:

M(r,t)＝M _m(r,t)+M _c(r)+M _d(r,t)

In formula, M represents magnetic field total intensity, M _mrepresent main terrestrial magnetic field, M _crepresent earth's crust terrestrial magnetic field, M _drepresent magnetic field intrusively; R represents carrier present position, and t represents the time;

Magnetic vector is converted into the process of two dimension amount from three-dimensional amount: M, H, project on terrestrial coordinate system three axles relation of Mx, My, Mz of φ four factor and M is as follows:

$M=\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2+{\mathrm{Mz}}^2}$

$H=\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2}$

$\mathrm{\φ}=arctan\left(\frac{Mz}{\sqrt{{\mathrm{Mx}}^2+{\mathrm{My}}^2}}\right)$

In formula, magnetic field total intensity M represents, it is projected northeast plane and obtains H, be called horizontal intensity; H is projected East and West direction axle, obtain East and West direction field intensity Mx; In like manner, H is projected north-south axle, obtain north-south field intensity My; Wherein represent magnetic declination, φ represents magnetic dip.

6. individual indoor locating system of assisting earth magnetism based on inertial navigation according to claim 2, it is characterized in that: when measurement magnetic vector being mated with local earth magnetism reference map in step S4, use geomagnetic matching algorithm mean square deviation MSD to obtain absolute position, it is as follows that its geomagnetic matching mean square deviation MSD obtains relational expression:

$D(u,v)=\frac{1}{N}\underset{i=1}{\overset{N}{\Σ}}{(N_{uv+i}-m_i)}^2$

D (u, v) in above formula is geomagnetic matching related function, N _uv+irepresent the characteristic quantity on the position (u, v+i) of benchmark database, m _irepresent i-th characteristic quantity measured in real time, N represents always counting of related data.