CN105258675A - Elevation positioning method for indoor pedestrian navigation device - Google Patents

Elevation positioning method for indoor pedestrian navigation device Download PDF

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Publication number
CN105258675A
CN105258675A CN201510850790.7A CN201510850790A CN105258675A CN 105258675 A CN105258675 A CN 105258675A CN 201510850790 A CN201510850790 A CN 201510850790A CN 105258675 A CN105258675 A CN 105258675A
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elevation
personnel
module
navigation device
pedestrian navigation
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CN105258675B (en
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董进龙
宋高顺
杜潇
李贺
张啸宇
韩晓英
罗杨
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Beijing Machinery Equipment Research Institute
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Beijing Machinery Equipment Research Institute
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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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The invention discloses an elevation positioning method for an indoor pedestrian navigation device, and the method is achieved through the indoor pedestrian navigation device. The indoor pedestrian navigation device comprises a microsensor module (1), a positioning calculation module (2) and a data transmission module (3). The method comprises the steps that calculation is conducted on the positioning calculation module (2) to obtain horizontal position and elevation information of personnel; two movement states of flat walking and going up and down of the personnel are identified, when the personnel walk on the flag ground, the zero vertical velocity is taken as the observed quantity, when the personnel go upstairs and downstairs, the barometric elevation is taken as the observed quantity, information fusion is conducted, elevation errors, vertical velocity errors, vertical acceleration errors and barometric elevation agitation errors of strapdown inertial navigation are estimated and corrected, and stable and reliable barometric elevation is guaranteed. According to the elevation positioning method for the indoor pedestrian navigation device, the problems that the indoor pedestrian navigation device is low in barometric elevation positioning accuracy and poor in environmental adaptation under the complex indoor environment, and the elevation positioning method for the indoor pedestrian navigation device has the advantages of being clear in theory, easy to achieve and strong in environmental adaptation.

Description

A kind of elevation location method for indoor pedestrian navigation device
Technical field
The present invention relates to a kind of elevation location method, particularly a kind of elevation location method for indoor pedestrian navigation device.
Background technology
In order to locate the floor information at indoor occupant place accurately, indoor pedestrian navigation device must provide enough accurate personnel's elevation information, thus carries out floor coupling.But the existing indoor pedestrian navigation device device precision based on micro inertial measurement unit is low, the vertical error utilizing traditional strap inertial navigation algorithm to obtain can increase rapidly.Based on " zero-velocity curve " although the elevation location precision of micro-inertia pedestrian navigation method of principle significantly improves, but still cannot suppress the accumulation of vertical error completely, the demand of long-time continuous location can not be met, simultaneously, require Inertial Measurement Unit to be fixed on foot, limitation is larger in actual applications.Barometer differentiates elevation information by induction change of atmospheric pressure, but the elevation that barometer exports affects comparatively greatly by factors such as atmospheric temperature change, convection current, and under the indoor environment that fire rescue etc. is special, elevation disturbance is larger.For the problems referred to above, need a kind ofly can adapt to the reliable and stable elevation calculation method of multiple environmental requirement, positioning result.
Summary of the invention
The object of the invention is to provide a kind of elevation location method for indoor pedestrian navigation device, solves existing based on the problem that micro inertial measurement unit+barometrical indoor pedestrian navigation device elevation location precision is low, environmental suitability is poor.
For an elevation location method for indoor pedestrian navigation device, its concrete steps are:
The first step builds based on micro inertial measurement unit+barometrical indoor pedestrian navigation system
Based on micro inertial measurement unit+barometrical indoor pedestrian navigation system, comprising: microsensor module, positioning calculation module and data transmission module.
The function of microsensor module is: the angular velocity of body, the acceleration of body and ambient atmosphere pressure information during survey crew walking, and carries out timing acquiring and pre-service to above-mentioned information.
The function of positioning calculation module is: according to the data of microsensor module acquires, resolves horizontal level and the elevation information of personnel.
The function of data transmission module is: the horizontal level and the elevation information that outwardly export personnel.
Second step microsensor module timing acquiring and pre-service body motion information
Microsensor module is arranged on trunk or lower limb, comprising: micro inertial measurement unit, microbarometer and data acquisition pretreater.Wherein, micro inertial measurement unit comprises three mutually orthogonal measurement axles, each measurement axle installs a MEMS gyro and a mems accelerometer, for measuring angular velocity and the acceleration of human motion.Microbarometer is for measuring atmospheric pressure.The data of data acquisition pretreater timing acquiring micro inertial measurement unit and microbarometer, compensate and pre-service data, and the data after process are transferred to positioning calculation module.
3rd step positioning calculation module computing staff elevation information
After positioning calculation module receives the data of microsensor module, start to perform grid DEM;
By position angle zero setting, utilizes specific force and acceleration of gravity calculate the attitude direction cosine matrix under bearing null condition , and the attitude direction cosine matrix of initialization inertial navigation is carried out with this ;
Barometric information is utilized to calculate air pressure elevation , and with the mean value of air pressure elevation the elevation of initialization inertial navigation , that is: ;
Angular velocity is utilized to upgrade attitude direction cosine matrix ;
With for observed quantity, carry out horizontal attitude information fusion, estimate and revise the horizontal attitude error of inertial navigation, obtain revised attitude direction cosine matrix ;
Utilize by specific force decompose on vertical direction, and upgrade the vertical speed of inertial navigation and elevation ;
Take time as independent variable, first-order linear matching is carried out to the inertial navigation altitude figures in nearest 2s, the slope obtained according to matching and standard deviation judge whether personnel are in and put down away or stationary state, when slope absolute value is less than the slope threshold value of setting and standard deviation is less than the standard deviation threshold method of setting, then judge that personnel are in put down away or stationary state, otherwise judgement personnel are in downstairs movement state.Wherein, the span of slope threshold value is: 0.08 ~ 0.1, and the threshold value of standard deviation is determined by the installation position of microsensor module, gets between 0.06 ~ 0.1 when being arranged on trunk position; Get when being arranged on lower extremity between 0.1 ~ 0.2; More on the lower, standard deviation threshold method should be larger in installation site.
When personnel be in put down away or stationary state time, for observed quantity, carry out elevation information fusion with " zero vertical speed ", estimate and revise the vertical error of inertial navigation, velocity error, acceleration error and air pressure elevation agitation error.When personnel are in upper downstairs movement state, with air pressure elevation for observed quantity, carry out elevation information fusion, estimate and revise the vertical error of inertial navigation, vertically velocity error and vertical acceleration error;
Data transmission module outwardly exports altitude figures, and the inertial navigation elevation recorded in up-to-date 2s, according to the sampling beat of microsensor module, repeat above-mentioned grid DEM flow process, pedestrian navigation device continues the elevation information of output personnel, until stop using.
So far the elevation location for indoor pedestrian navigation device is completed.
The invention solves the indoor pedestrian navigation device problem that elevation location precision is low under complex indoor environment, environmental suitability is poor based on micro inertial measurement unit+microbarometer, adopt the method for moving state identification+elevation bimodulus information fusion, achieve the long-time accurately location of elevation, there is clear principle, be easy to realize, feature that environmental suitability is strong, the applicable ability of indoor pedestrian navigation device under complex indoor environment based on micro inertial measurement unit+microbarometer can be improved.
Accompanying drawing explanation
Based on the indoor pedestrian navigation apparatus system composition schematic diagram of micro inertial measurement unit+microbarometer described in a kind of elevation location method for indoor pedestrian navigation device of Fig. 1.
1. microsensor module 2. positioning calculation module 3. data transmission module.
Embodiment
For an elevation location method for indoor pedestrian navigation device, its concrete steps are:
The first step builds based on micro inertial measurement unit+barometrical indoor pedestrian navigation system
Based on micro inertial measurement unit+barometrical indoor pedestrian navigation system, comprising: microsensor module 1, positioning calculation module 2 and data transmission module 3.
The function of microsensor module 1 is: the angular velocity of body, the acceleration of body and ambient atmosphere pressure information during survey crew walking, and carries out timing acquiring and pre-service to above-mentioned information.
The function of positioning calculation module 2 is: the data gathered according to microsensor module 1, resolves horizontal level and the elevation information of personnel.
The function of data transmission module 3 is: the horizontal level and the elevation information that outwardly export personnel.
Second step microsensor module 1 timing acquiring and pre-service body motion information
Microsensor module 1 is arranged on trunk or lower limb, comprising: micro inertial measurement unit, microbarometer and data acquisition pretreater.Wherein, micro inertial measurement unit comprises three mutually orthogonal measurement axles, each measurement axle installs a MEMS gyro and a mems accelerometer, for measuring angular velocity and the acceleration of human motion.Microbarometer is for measuring atmospheric pressure.The data of data acquisition pretreater timing acquiring micro inertial measurement unit and microbarometer, compensate and pre-service data, and the data after process are transferred to positioning calculation module 2.
3rd step positioning calculation module 2 computing staff elevation information
After positioning calculation module 2 receives the data of microsensor module 1, start to perform grid DEM;
By position angle zero setting, utilizes specific force and acceleration of gravity calculate the attitude direction cosine matrix under bearing null condition , and the attitude direction cosine matrix of initialization inertial navigation is carried out with this ;
Barometric information is utilized to calculate air pressure elevation , and with the mean value of air pressure elevation the elevation of initialization inertial navigation , that is: ;
Angular velocity is utilized to upgrade attitude direction cosine matrix ;
With for observed quantity, carry out horizontal attitude information fusion, estimate and revise the horizontal attitude error of inertial navigation, obtain revised attitude direction cosine matrix ;
Utilize by specific force decompose on vertical direction, and upgrade the vertical speed of inertial navigation and elevation ;
Take time as independent variable, first-order linear matching is carried out to the inertial navigation altitude figures in nearest 2s, the slope obtained according to matching and standard deviation judge whether personnel are in and put down away or stationary state, when slope absolute value is less than the slope threshold value of setting and standard deviation is less than the standard deviation threshold method of setting, then judge that personnel are in put down away or stationary state, otherwise judgement personnel are in downstairs movement state.Wherein, the span of slope threshold value is: 0.08 ~ 0.1, and the threshold value of standard deviation is determined by the installation position of microsensor module 1, gets between 0.06 ~ 0.1 when being arranged on trunk position; Get when being arranged on lower extremity between 0.1 ~ 0.2; More on the lower, standard deviation threshold method should be larger in installation site.
When personnel be in put down away or stationary state time, for observed quantity, carry out elevation information fusion with " zero vertical speed ", estimate and revise the vertical error of inertial navigation, velocity error, acceleration error and air pressure elevation agitation error.When personnel are in upper downstairs movement state, with air pressure elevation for observed quantity, carry out elevation information fusion, estimate and revise the vertical error of inertial navigation, vertically velocity error and vertical acceleration error;
Data transmission module 3 outwardly exports altitude figures, and the inertial navigation elevation recorded in up-to-date 2s, according to the sampling beat of microsensor module 1, repeat above-mentioned grid DEM flow process, pedestrian navigation device continues the elevation information of output personnel, until stop using.
So far the elevation location for indoor pedestrian navigation device is completed.

Claims (1)

1., for an elevation location method for indoor pedestrian navigation device, it is characterized in that concrete steps are:
The first step builds based on micro inertial measurement unit+barometrical indoor pedestrian navigation system
Based on micro inertial measurement unit+barometrical indoor pedestrian navigation system, comprising: microsensor module (1), positioning calculation module (2) and data transmission module (3);
The function of microsensor module (1) is: the angular velocity of body, the acceleration of body and ambient atmosphere pressure information during survey crew walking, and carries out timing acquiring and pre-service to above-mentioned information;
The function of positioning calculation module (2) is: the data gathered according to microsensor module (1), resolves horizontal level and the elevation information of personnel;
The function of data transmission module (3) is: the horizontal level and the elevation information that outwardly export personnel;
Second step microsensor module (1) timing acquiring and pre-service body motion information
Microsensor module (1) is arranged on trunk or lower limb, comprising: micro inertial measurement unit, microbarometer and data acquisition pretreater; Wherein, micro inertial measurement unit comprises three mutually orthogonal measurement axles, each measurement axle installs a MEMS gyro and a mems accelerometer, for measuring angular velocity and the acceleration of human motion; Microbarometer is for measuring atmospheric pressure; The data of data acquisition pretreater timing acquiring micro inertial measurement unit and microbarometer, compensate and pre-service data, and the data after process are transferred to positioning calculation module (2);
3rd step positioning calculation module (2) computing staff's elevation information
After positioning calculation module (2) receives the data of microsensor module (1), start to perform grid DEM;
By position angle zero setting, utilizes specific force and acceleration of gravity calculate the attitude direction cosine matrix under bearing null condition , and the attitude direction cosine matrix of initialization inertial navigation is carried out with this ;
Barometric information is utilized to calculate air pressure elevation , and with the mean value of air pressure elevation the elevation of initialization inertial navigation , that is: ;
Angular velocity is utilized to upgrade attitude direction cosine matrix ;
With for observed quantity, carry out horizontal attitude information fusion, estimate and revise the horizontal attitude error of inertial navigation, obtain revised attitude direction cosine matrix ;
Utilize by specific force decompose on vertical direction, and upgrade the vertical speed of inertial navigation and elevation ;
Take time as independent variable, first-order linear matching is carried out to the inertial navigation altitude figures in nearest 2s, the slope obtained according to matching and standard deviation judge whether personnel are in and put down away or stationary state, when slope absolute value is less than the slope threshold value of setting and standard deviation is less than the standard deviation threshold method of setting, then judge that personnel are in put down away or stationary state, otherwise judgement personnel are in downstairs movement state; Wherein, the span of slope threshold value is: 0.08 ~ 0.1, and the threshold value of standard deviation is determined by the installation position of microsensor module (1), gets between 0.06 ~ 0.1 when being arranged on trunk position; Get when being arranged on lower extremity between 0.1 ~ 0.2; More on the lower, standard deviation threshold method should be larger in installation site;
When personnel be in put down away or stationary state time, for observed quantity, carry out elevation information fusion with " zero vertical speed ", estimate and revise the vertical error of inertial navigation, velocity error, acceleration error and air pressure elevation agitation error; When personnel are in upper downstairs movement state, with air pressure elevation for observed quantity, carry out elevation information fusion, estimate and revise the vertical error of inertial navigation, vertically velocity error and vertical acceleration error;
Data transmission module (3) outwardly exports altitude figures, and the inertial navigation elevation recorded in up-to-date 2s, according to the sampling beat of microsensor module (1), repeat above-mentioned grid DEM flow process, pedestrian navigation device continues the elevation information of output personnel, until stop using;
So far the elevation location for indoor pedestrian navigation device is completed.
CN201510850790.7A 2015-11-30 2015-11-30 A kind of elevation location method for indoor pedestrian navigation device Active CN105258675B (en)

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Cited By (6)

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CN108871331A (en) * 2018-03-23 2018-11-23 北京方位捷讯科技有限公司 One kind is run step-size estimation method and device
CN109579832A (en) * 2018-11-26 2019-04-05 重庆邮电大学 A kind of personnel's height autonomous positioning algorithm
CN109974694A (en) * 2019-03-11 2019-07-05 东南大学 One kind is based on the barometrical indoor pedestrian's 3D localization method of UWB/IMU/
CN110986874A (en) * 2019-12-11 2020-04-10 金华航大北斗应用技术有限公司 Height measurement system and method based on barometer and micro-electromechanical inertia measurement element
CN111664834A (en) * 2019-03-07 2020-09-15 中国科学院上海高等研究院 Method/system for estimating elevation position of indoor moving body, storage medium, and apparatus
CN113008268A (en) * 2021-02-05 2021-06-22 中国科学院空天信息创新研究院 Wearable pedestrian positioning elevation correction method based on step detection

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Publication number Priority date Publication date Assignee Title
CN108871331A (en) * 2018-03-23 2018-11-23 北京方位捷讯科技有限公司 One kind is run step-size estimation method and device
CN108871331B (en) * 2018-03-23 2021-10-26 北京方位捷讯科技有限公司 Running step length estimation method and device and running track detection method and device
CN109579832A (en) * 2018-11-26 2019-04-05 重庆邮电大学 A kind of personnel's height autonomous positioning algorithm
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CN111664834A (en) * 2019-03-07 2020-09-15 中国科学院上海高等研究院 Method/system for estimating elevation position of indoor moving body, storage medium, and apparatus
CN109974694A (en) * 2019-03-11 2019-07-05 东南大学 One kind is based on the barometrical indoor pedestrian's 3D localization method of UWB/IMU/
CN109974694B (en) * 2019-03-11 2022-06-17 东南大学 Indoor pedestrian 3D positioning method based on UWB/IMU/barometer
CN110986874A (en) * 2019-12-11 2020-04-10 金华航大北斗应用技术有限公司 Height measurement system and method based on barometer and micro-electromechanical inertia measurement element
CN113008268A (en) * 2021-02-05 2021-06-22 中国科学院空天信息创新研究院 Wearable pedestrian positioning elevation correction method based on step detection
CN113008268B (en) * 2021-02-05 2023-02-17 中国科学院空天信息创新研究院 Wearable pedestrian positioning elevation correction method based on step detection

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