CN105651283A - Precision indoor positioning method based on acceleration, magnetometer, gyroscope and pressure sensor - Google Patents
Precision indoor positioning method based on acceleration, magnetometer, gyroscope and pressure sensor Download PDFInfo
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- CN105651283A CN105651283A CN201610143540.4A CN201610143540A CN105651283A CN 105651283 A CN105651283 A CN 105651283A CN 201610143540 A CN201610143540 A CN 201610143540A CN 105651283 A CN105651283 A CN 105651283A
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- gyroscope
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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
- G01C21/10—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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a precision indoor positioning method based on acceleration, a magnetometer, a gyroscope and a pressure sensor. The method includes steps: S1, origin positioning, to be more specific, acquiring acceleration data, azimuth angle data and position information of a moving target and three-dimensional information of an acceleration sensor in real time to determine a starting position, namely an origin, of the moving target; S2, distance measurement with the gyroscope, to be more specific, adopting the gyroscope for distance measurement to obtain coordinates in X, Y and Z directions according to data of the gyroscope, and comparing with the origin of the moving target to obtain a distance from the gyroscope to the origin; S3, angle measurement, to be more specific, adopting a geomagnetic sensor for direction detection of the moving target according to data of the geomagnetic sensor. The precision indoor positioning method has the advantages that pre-mounting of fixed points is avoided, precision positioning can be realized intrinsically without assistance of any external devices, accuracy in height positioning is achieved, automatic correction of positioning coordinates and reflection of current conditions of objects are realized, and suitableness for popularization is achieved.
Description
Technical field
The present invention relates to indoor orientation method technical field, particularly relate to a kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method.
Background technology
Indoor positioning technologies mainly has two kinds to realize method. One is based on ultrared method, although has of a relatively high indoor position accuracy, however it is necessary that and arrange multiple infrared transceiver device in advance, cause that overall cost is higher; Also has a kind of method being based on radio frequency, although transmission range is big, robustness is relatively strong, however it is necessary that the auxiliary positioning equipment outside intelligent terminal, server, and overhead is relatively larger.
Current indoor positioning technologies mainly has the wireless communication technologys such as UWB, RFID, WIFI, current existing technology major part needs to arrange one or more fixing point in advance, and it is difficult to precisely calculate the 3D coordinate of transfer point, especially that altitude location is poor.
In recent years, along with sensor price continue drop, most of intelligent terminals are integrated with multiple sensors. Conventional sensor has acceleration transducer, gyro sensor, ambient irradiance sensor, magnetometric sensor, direction sensor, pressure transducer, range sensor, temperature sensor etc. Wherein gyroscope, compass, accelerometer, it is possible to the position being used in inertial navigation system computing staff, we have proposed for this kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method.
Summary of the invention
Based on background technology exist technical problem, the present invention propose a kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method.
The present invention propose a kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method, comprise the following steps:
S1, plays point location: the acceleration information of Real-time Collection moving target and bearing data, including the three-dimensional information of the positional information of moving target and acceleration transducer, it is determined that the start position of moving target, i.e. initial point;
S2, gyroscope is found range: carry out gyroscope range finding, is gone out the coordinate in tri-directions of X, Y, Z, the start position of contrast moving target by the DATA REASONING of gyroscope, can draw the distance of gyroscope distance initial point;
S3, measures angle: carried out the direction detection of moving target, the data of base area Magnetic Sensor by geomagnetic sensor, calculates the angle of moving target distance initial point, is the direction of deviation from origin;
S4, measures height: use pressure transducer that moving target is measured, thus the height of moving target is compensated;
S5, subsidiary: use temperature sensor measurement, thus the data that geomagnetic sensor and pressure transducer are measured compensate;
S6, calculates: the data obtained are calculated, can obtain the accurate coordinates of moving target.
Preferably, described acceleration transducer is arranged on the diverse location on moving target, and described acceleration transducer gathers the diverse location acceleration change data of moving target.
Preferably, described acceleration information includes the horizontal acceleration data of moving target.
Preferably, described indoor orientation method can the elements of a fix of correction motion target by temperature sensor and pressure transducer.
Preferably, described acceleration information carries out eliminating the Filtering Processing of interference and drifting problem when gathering.
In the present invention, first pass through the acceleration information of acceleration transducer Real-time Collection moving target and after bearing data obtains the start position of moving target, the distance of gyroscope distance initial point is drawn by the data of gyroscope, the angle of moving target distance initial point is calculated again through geomagnetic sensor, by pressure transducer and temperature sensor, data are compensated, finally by calculating the accurate coordinates that can obtain moving target, the present invention need not install fixing point in advance, need not by any external equipment, self can accomplish precise positioning, altitude location is accurate, the elements of a fix can be revised voluntarily simultaneously, and the current shape body of object can be reacted, it is suitable for promoting.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention done further explanation.
The present invention propose a kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method, comprise the following steps:
S1, plays point location: the acceleration information of Real-time Collection moving target and bearing data, including the three-dimensional information of the positional information of moving target and acceleration transducer, it is determined that the start position of moving target, i.e. initial point;
S2, gyroscope is found range: carry out gyroscope range finding, is gone out the coordinate in tri-directions of X, Y, Z, the start position of contrast moving target by the DATA REASONING of gyroscope, can draw the distance of gyroscope distance initial point;
S3, measures angle: carried out the direction detection of moving target, the data of base area Magnetic Sensor by geomagnetic sensor, calculates the angle of moving target distance initial point, is the direction of deviation from origin;
S4, measures height: use pressure transducer that moving target is measured, thus the height of moving target is compensated;
S5, subsidiary: use temperature sensor measurement, thus the data that geomagnetic sensor and pressure transducer are measured compensate;
S6, calculates: the data obtained are calculated, can obtain the accurate coordinates of moving target.
In the present invention, described acceleration transducer is arranged on the diverse location on moving target, and described acceleration transducer gathers the diverse location acceleration change data of moving target. Described acceleration information includes the horizontal acceleration data of moving target. Described indoor orientation method can the elements of a fix of correction motion target by temperature sensor and pressure transducer. Described acceleration information carries out when gathering eliminating interference and the Filtering Processing of drifting problem, coiling property is a kind of device for sensing with maintain direction, based on the conservation of angular momentum Design Theory out. Gyroscope is mainly positioned at axle center by one and rotatable rotor is constituted. Gyroscope is once rotation, and due to the angular momentum of rotor, gyroscope has resists the trend that direction changes, and the gyroscope used in the present invention can measure distance.
The present invention need not install fixing point in advance, it is not necessary to by any external equipment, and self can accomplish precise positioning, and altitude location is accurate, can revise the elements of a fix voluntarily simultaneously, and can react the current shape body of object, is suitable for promoting.
The above; it is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; it is equal to replacement according to technical scheme and inventive concept thereof or is changed, all should be encompassed within protection scope of the present invention.
Claims (5)
1. one kind based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method, it is characterised in that comprise the following steps:
S1, plays point location: the acceleration information of Real-time Collection moving target and bearing data, including the three-dimensional information of the positional information of moving target and acceleration transducer, it is determined that the start position of moving target, i.e. initial point;
S2, gyroscope is found range: carry out gyroscope range finding, is gone out the coordinate in tri-directions of X, Y, Z, the start position of contrast moving target by the DATA REASONING of gyroscope, can draw the distance of gyroscope distance initial point;
S3, measures angle: carried out the direction detection of moving target, the data of base area Magnetic Sensor by geomagnetic sensor, calculates the angle of moving target distance initial point, is the direction of deviation from origin;
S4, measures height: use pressure transducer that moving target is measured, thus the height of moving target is compensated;
S5, subsidiary: use temperature sensor measurement, thus the data that geomagnetic sensor and pressure transducer are measured compensate;
S6, calculates: the data obtained are calculated, can obtain the accurate coordinates of moving target.
2. according to claim 1 a kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method, it is characterized in that, described acceleration transducer is arranged on the diverse location on moving target, and described acceleration transducer gathers the diverse location acceleration change data of moving target.
3. according to claim 1 a kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method, it is characterised in that described acceleration information includes the horizontal acceleration data of moving target.
4. according to claim 1 a kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method, it is characterized in that, described indoor orientation method can the elements of a fix of correction motion target by temperature sensor and pressure transducer.
5. according to claim 1 a kind of based on acceleration, magnetometer, gyroscope, pressure transducer precision indoor localization method, it is characterised in that described acceleration information carries out when gathering eliminating interference and the Filtering Processing of drifting problem.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610143540.4A CN105651283A (en) | 2016-03-14 | 2016-03-14 | Precision indoor positioning method based on acceleration, magnetometer, gyroscope and pressure sensor |
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| CN201610143540.4A CN105651283A (en) | 2016-03-14 | 2016-03-14 | Precision indoor positioning method based on acceleration, magnetometer, gyroscope and pressure sensor |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106248107A (en) * | 2016-09-22 | 2016-12-21 | 中国电子科技集团公司第二十二研究所 | A kind of flight path based on indoor earth magnetism path matching infers calibration steps and device |
| CN106989773A (en) * | 2017-04-07 | 2017-07-28 | 浙江大学 | A kind of attitude transducer and posture renewal method |
| CN109990776A (en) * | 2019-04-12 | 2019-07-09 | 武汉深海蓝科技有限公司 | A kind of attitude measurement method and device |
| CN110231826A (en) * | 2019-06-25 | 2019-09-13 | 苏州佳世达光电有限公司 | Transport vehicle control method, system and the transport vehicle using it |
| CN110779522A (en) * | 2019-10-10 | 2020-02-11 | 深圳市宏电技术股份有限公司 | Positioning drift processing method and vehicle-mounted positioning terminal |
| CN111024501A (en) * | 2019-12-26 | 2020-04-17 | 山东科技大学 | Method for accurately positioning and simulating sensor position after fault formation and correcting stress |
| CN111537988A (en) * | 2020-03-31 | 2020-08-14 | 北京小米移动软件有限公司 | Role control method, role control device, and computer-readable storage medium |
| CN112013810A (en) * | 2020-08-20 | 2020-12-01 | 杭州海康微影传感科技有限公司 | Distance measurement method, device and equipment |
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| CN106248107A (en) * | 2016-09-22 | 2016-12-21 | 中国电子科技集团公司第二十二研究所 | A kind of flight path based on indoor earth magnetism path matching infers calibration steps and device |
| CN106248107B (en) * | 2016-09-22 | 2019-03-12 | 中国电子科技集团公司第二十二研究所 | A kind of track deduction calibration method and device based on indoor earth magnetism path matching |
| CN106989773A (en) * | 2017-04-07 | 2017-07-28 | 浙江大学 | A kind of attitude transducer and posture renewal method |
| CN106989773B (en) * | 2017-04-07 | 2019-07-16 | 浙江大学 | A kind of attitude transducer and posture renewal method |
| CN109990776A (en) * | 2019-04-12 | 2019-07-09 | 武汉深海蓝科技有限公司 | A kind of attitude measurement method and device |
| CN110231826A (en) * | 2019-06-25 | 2019-09-13 | 苏州佳世达光电有限公司 | Transport vehicle control method, system and the transport vehicle using it |
| CN110779522A (en) * | 2019-10-10 | 2020-02-11 | 深圳市宏电技术股份有限公司 | Positioning drift processing method and vehicle-mounted positioning terminal |
| CN110779522B (en) * | 2019-10-10 | 2022-03-04 | 深圳市宏电技术股份有限公司 | Positioning drift processing method and vehicle-mounted positioning terminal |
| CN111024501A (en) * | 2019-12-26 | 2020-04-17 | 山东科技大学 | Method for accurately positioning and simulating sensor position after fault formation and correcting stress |
| CN111024501B (en) * | 2019-12-26 | 2022-04-29 | 山东科技大学 | Method for accurately positioning and simulating sensor position after fault formation and correcting stress |
| CN111537988A (en) * | 2020-03-31 | 2020-08-14 | 北京小米移动软件有限公司 | Role control method, role control device, and computer-readable storage medium |
| CN111537988B (en) * | 2020-03-31 | 2023-04-18 | 北京小米移动软件有限公司 | Role control method, role control device, and computer-readable storage medium |
| CN112013810A (en) * | 2020-08-20 | 2020-12-01 | 杭州海康微影传感科技有限公司 | Distance measurement method, device and equipment |
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