CN105258675B - A kind of elevation location method for indoor pedestrian navigation device - Google Patents

A kind of elevation location method for indoor pedestrian navigation device Download PDF

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Publication number
CN105258675B
CN105258675B CN201510850790.7A CN201510850790A CN105258675B CN 105258675 B CN105258675 B CN 105258675B CN 201510850790 A CN201510850790 A CN 201510850790A CN 105258675 B CN105258675 B CN 105258675B
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elevation
module
error
personnel
data
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CN105258675A (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

Abstract

The invention discloses a kind of elevation location method for indoor pedestrian navigation device, is realized by indoor pedestrian navigation device.Indoor pedestrian navigation device, including：Microsensor module（1）, positioning calculation module（2）And data transmission module（3）.Positioning calculation module（2）Resolving obtains the horizontal level and elevation information of personnel.Then, identification personnel put down away and upper two kinds of motion states downstairs, with " zero vertical speed " for observed quantity when putting down away, using air pressure elevation as observed quantity when above downstairs, information fusion is carried out respectively, estimation and vertical error, vertical velocity error, vertical acceleration error and the air pressure elevation agitation error of amendment inertial navigation, it is ensured that elevation is reliable and stable.The present invention solves the problems, such as that indoor pedestrian navigation device elevation location precision under complex indoor environment is low, environmental suitability is poor, has clear principle, is easily achieved, the characteristics of environmental suitability is strong.

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 side for indoor pedestrian navigation device Method.
Background technology
In order to accurately position the floor information where indoor occupant, indoor pedestrian navigation device must provide enough Accurate personnel's elevation information, so as to carry out floor matching.But the existing indoor pedestrian based on micro inertial measurement unit leads Device device precision of navigating is low, and the vertical error obtained using traditional strap inertial navigation algorithm can be increased rapidly.Based on " zero-speed Although the elevation location precision of micro- inertia pedestrian navigation method of amendment " principle greatly improves, but can not still completely inhibit The accumulation of vertical error, it is impossible to meet the needs of long-time consecutive tracking, simultaneously, it is desirable to which Inertial Measurement Unit is fixed on pin Portion, limitation is larger in actual applications.Barometer differentiates elevation information by sensing change of atmospheric pressure, but barometer is defeated The factors such as the elevation gone out is changed by atmospheric temperature, convection current are had a great influence, and under the special indoor environment such as fire rescue, elevation is disturbed It is dynamic larger.In view of the above-mentioned problems, need a kind of to can adapt to the reliable and stable elevation resolving side of a variety of environmental requirements, positioning result Method.
The content of the invention
Present invention aims at a kind of elevation location method for indoor pedestrian navigation device is provided, solves existing base In the micro inertial measurement unit+barometrical indoor pedestrian navigation device elevation location precision is low, environmental suitability is poor the problem of.
A kind of elevation location method for indoor pedestrian navigation device, it is concretely comprised the following steps：
First step structure is based on micro inertial measurement unit+barometrical indoor pedestrian navigation system
Based on micro inertial measurement unit+barometrical indoor pedestrian navigation system, including：Microsensor module, positioning solution Calculate module and data transmission module.
The function of microsensor module is：The angular speed of body, the acceleration of body and environment are big when survey crew walks Pressure information, and collection and pretreatment are timed to above- mentioned information.
The function of positioning calculation module is：According to microsensor module gather data, resolve personnel horizontal level and Elevation information.
The function of data transmission module is：Outwardly export the horizontal level and elevation information of personnel.
Second step microsensor module timing acquiring and pretreatment body motion information
Microsensor module is arranged on trunk or lower limb, including：Micro inertial measurement unit, micromanometer and data Gather preprocessor.Wherein, micro inertial measurement unit includes three mutually orthogonal measurement axles, and each measure installs one on axle MEMS gyro and a mems accelerometer, for measuring the angular speed and acceleration of human motion.Micromanometer is used to measure Atmospheric pressure.Data are compensated by the data of data acquisition preprocessor timing acquiring micro inertial measurement unit and micromanometer And pretreatment, and the data after processing are transferred to positioning calculation module.
3rd step positioning calculation module computing staff's elevation information
After positioning calculation module receives the data of microsensor module, start to perform grid DEM；
By azimuthZero setting, utilize specific forceAnd acceleration of gravityMore than posture direction under the conditions of calculating bearing null String matrix, and initialize with this posture direction cosine matrix of inertial navigation；
Air pressure elevation is calculated using barometric information, and with the average value of air pressure elevationInitialize the elevation of inertial navigation, i.e.,：；
Posture direction cosine matrix is updated using angular speed；
WithFor observed quantity, horizontal attitude information fusion, estimation and the horizontal attitude for correcting inertial navigation are carried out Error, obtain revised posture direction cosine matrix；
UtilizeBy specific forceDecompose on vertical direction, and update the vertical speed of inertial navigationAnd elevation；
Using the time as independent variable, first-order linear fitting is carried out to the inertial navigation altitude data in nearest 2s, according to fitting Whether obtained slope and standard deviation judges personnel in putting down away or inactive state, when slope absolute value is less than the slope threshold of setting Value and when standard deviation is less than the standard deviation threshold method of setting, then judge that personnel are in and put down away or inactive state, otherwise, it is determined that at personnel In upper downstairs movement state.Wherein, the span of slope threshold value is：0.08 ~ 0.1, the threshold value of standard deviation is by microsensor module Installation position determines, is taken when installed in trunk position between 0.06 ~ 0.1；0.1 ~ 0.2 is taken when installed in lower extremity Between；More on the lower, standard deviation threshold method should be bigger for installation site.
Put down away or during inactive state when personnel are in, with " zero vertical speed " for observed quantity, progress elevation information fusion, estimate Vertical error, velocity error, acceleration error and the air pressure elevation agitation error of meter and amendment inertial navigation.When personnel are in upper During downstairs movement state, using air pressure elevation as observed quantity, carry out elevation information fusion, estimation and amendment inertial navigation vertical error, Vertical velocity error and vertical acceleration error；
Data transmission module outwardly exports altitude data, and records the inertial navigation elevation in newest 2s, according to micro- biography The sampling beat of sensor module, above-mentioned grid DEM flow being repeated, pedestrian navigation device persistently exports the elevation information of personnel, Untill stopping using.
So far the elevation location for indoor pedestrian navigation device is completed.
The present invention solves the indoor pedestrian navigation device based on micro inertial measurement unit+micromanometer in complicated indoor ring The problem of elevation location precision is low under border, environmental suitability is poor, using the side of moving state identification+elevation bimodulus information fusion Method, the long-time for realizing elevation are accurately positioned, and are had clear principle, are easily achieved, the characteristics of environmental suitability is strong, Neng Gouti High applicable ability of the indoor pedestrian navigation device under complex indoor environment based on micro inertial measurement unit+micromanometer.
Brief description of the drawings
Micro inertial measurement unit+micro- gas is based on described in a kind of elevation location methods for indoor pedestrian navigation device of Fig. 1 Press the indoor pedestrian navigation apparatus system composition schematic diagram of meter.
1. the data transmission module of 2. positioning calculation module of microsensor module 3..
Embodiment
A kind of elevation location method for indoor pedestrian navigation device, it is concretely comprised the following steps：
First step structure is based on micro inertial measurement unit+barometrical indoor pedestrian navigation system
Based on micro inertial measurement unit+barometrical indoor pedestrian navigation system, including：Microsensor module 1, positioning solution Calculate module 2 and data transmission module 3.
The function of microsensor module 1 is：The angular speed of body, the acceleration of body and environment are big when survey crew walks Pressure information, and collection and pretreatment are timed to above- mentioned information.
The function of positioning calculation module 2 is：The data gathered according to microsensor module 1, resolve the horizontal level of personnel And elevation information.
The function of data transmission module 3 is：Outwardly export the horizontal level and elevation information of personnel.
The timing acquiring of second step microsensor module 1 and pretreatment body motion information
Microsensor module 1 is arranged on trunk or lower limb, including：Micro inertial measurement unit, micromanometer sum According to collection preprocessor.Wherein, micro inertial measurement unit includes three mutually orthogonal measurement axles, and each measure installs one on axle Individual MEMS gyro and a mems accelerometer, for measuring the angular speed and acceleration of human motion.Micromanometer is used to survey Measure atmospheric pressure.Data are mended by the data of data acquisition preprocessor timing acquiring micro inertial measurement unit and micromanometer Repay and pre-process, and the data after processing are transferred to positioning calculation module 2.
The computing staff's elevation information of 3rd step positioning calculation module 2
After positioning calculation module 2 receives the data of microsensor module 1, start to perform grid DEM；
By azimuthZero setting, utilize specific forceAnd acceleration of gravityMore than posture direction under the conditions of calculating bearing null String matrix, and initialize with this posture direction cosine matrix of inertial navigation；
Air pressure elevation is calculated using barometric information, and with the average value of air pressure elevationInitialize the elevation of inertial navigation, i.e.,：；
Posture direction cosine matrix is updated using angular speed；
WithFor observed quantity, horizontal attitude information fusion, estimation and the horizontal attitude for correcting inertial navigation are carried out Error, obtain revised posture direction cosine matrix；
UtilizeBy specific forceDecompose on vertical direction, and update the vertical speed of inertial navigationAnd elevation；
Using the time as independent variable, first-order linear fitting is carried out to the inertial navigation altitude data in nearest 2s, according to fitting Whether obtained slope and standard deviation judges personnel in putting down away or inactive state, when slope absolute value is less than the slope threshold of setting Value and when standard deviation is less than the standard deviation threshold method of setting, then judge that personnel are in and put down away or inactive state, otherwise, it is determined that at personnel In upper downstairs movement state.Wherein, the span of slope threshold value is：0.08 ~ 0.1, the threshold value of standard deviation is by microsensor module 1 Installation position determines, is taken when installed in trunk position between 0.06 ~ 0.1；0.1 ~ 0.2 is taken when installed in lower extremity Between；More on the lower, standard deviation threshold method should be bigger for installation site.
Put down away or during inactive state when personnel are in, with " zero vertical speed " for observed quantity, progress elevation information fusion, estimate Vertical error, velocity error, acceleration error and the air pressure elevation agitation error of meter and amendment inertial navigation.When personnel are in upper During downstairs movement state, using air pressure elevation as observed quantity, carry out elevation information fusion, estimation and amendment inertial navigation vertical error, Vertical velocity error and vertical acceleration error；
Data transmission module 3 outwardly exports altitude data, and records the inertial navigation elevation in newest 2s, according to micro- biography The sampling beat of sensor module 1, repeats above-mentioned grid DEM flow, and pedestrian navigation device persistently exports the elevation letter of personnel Breath, untill stopping using.
So far the elevation location for indoor pedestrian navigation device is completed.

Claims (1)

  1. A kind of 1. elevation location method for indoor pedestrian navigation device, it is characterised in that concretely comprise the following steps：
    First step structure is based on micro inertial measurement unit+barometrical indoor pedestrian navigation system
    Based on micro inertial measurement unit+barometrical indoor pedestrian navigation system, including：Microsensor module (1), positioning calculation Module (2) and data transmission module (3)；
    The function of microsensor module (1) is：The angular speed of body, the acceleration of body and ambient air when survey crew walks Information is pressed, and collection and pretreatment are timed to above- mentioned information；
    The function of positioning calculation module (2) is：The data gathered according to microsensor module (1), resolve the horizontal level of personnel And elevation information；
    The function of data transmission module (3) is：Outwardly export the horizontal level and elevation information of personnel；
    Second step microsensor module (1) timing acquiring and pretreatment body motion information
    Microsensor module (1) is arranged on trunk or lower limb, including：Micro inertial measurement unit, micromanometer and data Gather preprocessor；Wherein, micro inertial measurement unit includes three mutually orthogonal measurement axles, and each measure installs one on axle MEMS gyro and a mems accelerometer, for measuring the angular speed and acceleration of human motion；Micromanometer is used to measure Atmospheric pressure；Data are compensated by the data of data acquisition preprocessor timing acquiring micro inertial measurement unit and micromanometer And pretreatment, and the data after processing 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 azimuth ψ zero setting, specific force f is utilizedbAnd gravity acceleration gnCalculate the posture direction cosine matrix under the conditions of bearing nullAnd the posture direction cosine matrix of inertial navigation is initialized with this
    Air pressure elevation h is calculated using barometric informationq, and with the average value of air pressure elevationInitialize the elevation h of inertial navigation0, I.e.：
    Posture direction cosine matrix is updated using angular speed
    WithFor observed quantity, horizontal attitude information fusion, estimation and the horizontal attitude error for correcting inertial navigation are carried out, Obtain revised posture direction cosine matrix
    UtilizeBy specific force fbDecompose on vertical direction, and update the vertical speed V of inertial navigationuWith elevation h；
    Using the time as independent variable, first-order linear fitting is carried out to the inertial navigation altitude data in nearest 2s, obtained according to fitting Slope and standard deviation whether judge personnel in putting down away or inactive state, when slope absolute value be less than the slope threshold value of setting and When standard deviation is less than the standard deviation threshold method of setting, then judges that personnel are in and put down away or inactive state, otherwise, it is determined that personnel are in upper Downstairs movement state；Wherein, the span of slope threshold value is：0.08~0.1, the threshold value of standard deviation is by microsensor module (1) Installation position determines, is taken when installed in trunk position between 0.06~0.1；Take 0.1 when installed in lower extremity~ Between 0.2；More on the lower, standard deviation threshold method should be bigger for installation site；
    Put down away or during inactive state when personnel are in, with " zero vertical speed " for observed quantity, carry out elevation information fusion, estimation with Correct vertical error, velocity error, acceleration error and the air pressure elevation agitation error of inertial navigation；Gone downstairs when personnel are in upper During state, using air pressure elevation as observed quantity, elevation information fusion is carried out, it is the vertical error of estimation and amendment inertial navigation, vertical Velocity error and vertical acceleration error；
    Data transmission module (3) outwardly exports altitude data, and records the inertial navigation altitude data in newest 2s, according to micro- The sampling beat of sensor assembly (1), repeats above-mentioned grid DEM flow, and indoor pedestrian navigation device persistently exports personnel's Elevation information, untill stopping using；
    So far the elevation location for indoor pedestrian navigation device is completed.
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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
CN109579832B (en) * 2018-11-26 2022-12-27 重庆邮电大学 Personnel height autonomous positioning algorithm
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
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
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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CN102261915B (en) * 2011-04-27 2013-06-12 浙江大学 Pedestrian inertial navigation device and method
JP5712789B2 (en) * 2011-05-20 2015-05-07 オムロン株式会社 Advanced measurement device, advanced measurement method, and advanced measurement program
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