CN105973224A - Indoor navigation method - Google Patents
Indoor navigation method Download PDFInfo
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- CN105973224A CN105973224A CN201610269764.XA CN201610269764A CN105973224A CN 105973224 A CN105973224 A CN 105973224A CN 201610269764 A CN201610269764 A CN 201610269764A CN 105973224 A CN105973224 A CN 105973224A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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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
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an indoor navigation method comprising the following steps: S1, a magnetic field database is established; S2, a current measurement value hn is obtained according to an inertial navigation system; S3, former path data is recorded, the former path data is inputted into the inertial navigation system, the inertial navigation system updates a human body course value and step number along with movement of a human body in real time, and possible paths of the human body movement are obtained successively; S4, the possible paths of the human body movement are stored by the inertial navigation system, and possible paths of the human body moving to a final position are automatically obtained, and at the same time, the inertial navigation system obtains a final ap position through an observation value sequence A={a1, a2, a3..., ap}, and a particular position of the human body moving to the terminal position is obtained; and S5, the inertial navigation system can output a shortest path of the human body moving to the terminal position according the particular position of the human body moving to the terminal position and the position of a former path. The indoor navigation can be performed, the navigation precision is higher, and the demand of the modern people can be further satisfied.
Description
Technical field
The invention discloses Geographic Navigation technology, particularly relate to a kind of indoor navigation method.
Background technology
In terms of the military people's livelihood of today, airmanship just like has become as a kind of extremely important
Technology, as one of currently the most popular technology, the means of navigation are more, typically at present
There are radionavigation, celestial navigation, an inertial and satellite navigation, and existing airmanship
All existing defects:
Radionavigation radio navigation signal includes WLAN, GPS navigation and radar navigation
Deng, although the problem overcoming error accumulation, and it is high to have precision, but cost of layout is high,
Being easily subject to interior of building in indoor causes signal disturbing simultaneously, thus cannot be suitable for
Navigate in indoor.
Celestial navigation and satellite navigation celestial navigation are mainly by the measurement to natural celestial body
Determine the airmanship in self-position and course；Satellite navigation refers to use aeronautical satellite over the ground
Face, ocean, aerial and spatial user carry out the technology of navigator fix, common GPS navigation,
The Big Dipper navigation etc. is satellite navigation, and its celestial navigation and satellite navigation are mainly applied in boat
On it device, and it is relatively costly in indoor, and navigation is easily subject to the in-built of building
Impact, so that navigation accuracy is not high enough.
The navigation of inertial navigation inertia device utilizes inertance element (accelerometer) to measure fortune
The acceleration of carrier itself, obtains speed and position through integration and computing, thus reaches fortune
The purpose of carrier navigator fix, inertia device navigation is current most widely used technology, its tool
There is autonomy strong, to features such as external interference resistance are strong, but generation can be increased over time
The problem of cumulative error.
As can be seen here, for the complex environment of indoor navigation, it is therefore necessary to provide one suitable
Close the technology of indoor navigation.
Summary of the invention
For not enough in prior art, the invention discloses precision height, low cost and be suitable for
Indoor indoor navigation method.
To achieve these goals, the technical solution used in the present invention is:
A kind of indoor navigation method, comprises the steps:
Step 1, sets up magnetic field data storehouse, utilizes the inertial navigation system calibrated to collect wanted room
Interior data, described magnetic field data storehouse of setting up concretely comprises the following steps: a, in inertial navigation system
Magnetic Sensor collects magnetic field data in indoor ready-portioned mesh point point of intersection in high precision；B, used
Property navigation system stays for some time S in indoor ready-portioned mesh point point of intersection, described inertia
In navigation system, inertial navigation module is when indoor ready-portioned mesh point point of intersection stops one section
Between be preferably 5 seconds, then by inertial navigation system field strength values intercept in the middle of several,
Several field strength values forms a set M, thus calculates the average of set M
Ma=M/Ms, MsRepresenting the number of set M, several field strength values is 5,5
Individual field strength values forms a set M and is embodied as M={m1,m2,m3,m4,m5, its collection
Close the average of M according to Ma=M/MsM can be obtaineda=M/5；C, inertial navigation system will
Obtain gathering average M of MaIt is entered into successively in the mesh point intersection point in magnetic field data, thus
Completing from the magnetic field data storehouse setting up grid type, the unit specification in its magnetic field data storehouse is dx×dy,
X and y is abscissa and the vertical coordinate of grid in geomagnetic database respectively, dxRepresent in data base
Transverse axis length, dyRepresent the longitudinal extent in data base, the wherein grid in magnetic field data storehouse
Width be the interval of 0.6 meter；
Step 2, draws current metric h according to inertial navigation systemn, pass through inertial navigation system
Record its initial position A (x, y), and inertial navigation system output human motion during earth magnetism
Field measure sequence A={a1,a2,a3…,ap, geomagnetic field measuring value sequence A={a1,a2,a3…,ap}
As observed value sequence, its observed value sequence A={a1,a2,a3…,apA in }1At the beginning of observed value sequence
Measured magnetic field on beginning position, inertial navigation system is by geomagnetic field measuring value sequence
A={a1,a2,a3…,apHausdorff distance is passed through with the earth's magnetic field data value in magnetic field data storehouse
Draw current metric hn, metric hnCircular be: hn=| an-bx,y|, an
For the geomagnetic field measuring value sequence A={a on observed value sequence initial position1,a2,a3…,apArbitrary
Value, bx,yA is measured for inertial navigation systemnShi Zaiti position and this position are by calculating
Position A determined by the possible path gone out (x, magnetic field value y)；
Step 3, records the data in previous path, and previous path data is input to inertial navigation system
In, and inertial navigation system along with human body mobile can real-time update human body course value and step number,
And correspondence calculate current possible path, inertial navigation system can be along with human motion band
Carry out the renewal of human body course value and step number, the metric h current by itnAlso previous path can be become
Metric H be used for realize the metric h that real-time update is currentn, inertial navigation system meeting simultaneously
The metric H in previous path is carried out cumulative as current metric hn, metric gets over novel
Bright closer to observed value sequence, metric is got over the preservation of small path, thus draws human body successively
The mobile possible path existed, owing to inertial navigation system is preset with the quantity of possible path number
Value, its preset value inertial navigation system exceeding possible path quantitative value can be automatically deleted, inertia
Navigation system understands real-time update human body course value and the step of step number along with the mobile of human body: be 1. used to
Property navigation system in preset 45 ° to 135 ° be direction eastwards, 135 ° to 225 ° is direction to the south,
225 ° to 315 ° is westwards direction, and 315 ° to 360 ° and 0 ° to 45 ° is northwards direction, inertial navigation
Along with the mobile meeting of human body, system show that human body course value, human body course value are led according to inertia in real time
The direction preset in boat system draws the accurate direction after the movement of human body, the most also needs to retain phase
Two adjacent backup directions；2. whether inertial navigation system can change according to the step number of human body
Judge whether to update accurate direction and backup direction, when step number has updated, retain above-mentioned steps
In accurate direction and two backup directions, and inertial navigation system can be from magnetic field data storehouse
Mesh point draws accurate direction and the magnetic field value in two backup directions, when step number does not updates, then protects
Stay the mesh point of current location during human motion and be perpendicular to phase on the direction of direction of advance
Adjacent two mesh points, inertial navigation system can the mesh point from magnetic field data storehouse draw with currently
The mesh point of position and be perpendicular to the magnetic field value of adjacent two mesh points on the direction of direction of advance；
3. inertial navigation system draws the metric h of Hausdorff distance successivelyn=| an-bx,y|, anFor seeing
Examine the geomagnetic field measuring value sequence A={a on value sequence initial position1,a2,a3…,apAny value,
bx,yA is measured for inertial navigation systemnShi Zaiti position and this position are by calculating
Position A determined by possible path (x, magnetic field value y), record simultaneously previous path data be before
One Route Routes information A 'M(x’m,y’m), A 'M(x’m,y’m) once calculate before representative in remain
M paths data, then A 'M(x’m,y’m) previous Route Routes information is input to inertial navigation
In system, inertial navigation system is by A 'M(x’m,y’m) previous Route Routes information and this path data
In the cumulative metric as current path data of metric, the path this calculated is by degree
Value sorts from small to large, successively surviving path, due to inertial navigation system is preset with can energy circuit
The quantitative value of footpath number, its preset value inertial navigation system exceeding possible path quantitative value can be certainly
Move and ineligible path is abandoned；
Step 4, the possible path that human motion exists can be preserved by inertial navigation system, and from
Dynamic drawing the human motion possible path to terminal location, what possible path included pre-ordered state can
The metric of energy path, the pointer of sensing pre-ordered state and possible path etc. data, are used to simultaneously
Property navigation system is calculated observed value sequence A={a by algorithm1,a2,a3…,apLast a in }p
The position of point, thus obtain the human motion particular location to terminal location；
Step 5, inertial navigation system can (pre-ordered state pointer be with relevant according to the data in previous path
Metric) draw the position in previous path, then inertial navigation system can be according to draw human motion
Use inverse row's output to the particular location of terminal location and the position in previous path and recall whole
The method in path, thus export the human motion shortest path to terminal location.
Beneficial effects of the present invention: compared with prior art, only present invention is primarily aimed at
Utilize measured magnetic field and course substantially to judge to realize the navigation of indoor run trace, tie simultaneously
Close inertial navigation system and self-built magnetic field data storehouse so that navigation is more accurate, improves indoor
Homing capability, reaches the effect of indoor navigation.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of the present invention；
Fig. 2 is the wherein floor geomagnetic data library model at of the present invention；
Fig. 3 is the result output figure of the simulated program of the present invention.
Detailed description of the invention
The present invention combines Fig. 1, Fig. 2 and Fig. 3 and makes following specific description.
A kind of indoor navigation method, comprises the steps:
Step 1, sets up magnetic field data storehouse, utilizes the inertial navigation system calibrated to collect wanted room
Interior data, described magnetic field data storehouse of setting up concretely comprises the following steps: a, in inertial navigation system
Magnetic Sensor collects magnetic field data in indoor ready-portioned mesh point point of intersection in high precision；B, used
Property navigation system stays for some time S in indoor ready-portioned mesh point point of intersection, described inertia
In navigation system, inertial navigation module is when indoor ready-portioned mesh point point of intersection stops one section
Between be preferably 5 seconds, then by inertial navigation system field strength values intercept in the middle of several,
Several field strength values forms a set M, thus calculates the average of set M
Ma=M/Ms, MsRepresenting the number of set M, several field strength values is 5,5
Individual field strength values forms a set M and is embodied as M={m1,m2,m3,m4,m5, its collection
Close the average of M according to Ma=M/MsM can be obtaineda=M/5；C, inertial navigation system will
Obtain gathering average M of MaIt is entered into successively in the mesh point intersection point in magnetic field data, thus
Completing from the magnetic field data storehouse setting up grid type, the unit specification in its magnetic field data storehouse is dx×dy,
X and y is abscissa and the vertical coordinate of grid in geomagnetic database respectively, dxRepresent in data base
Transverse axis length, dyRepresent the longitudinal extent in data base；
Step 2, draws current metric h according to inertial navigation systemn, pass through inertial navigation system
Record its initial position A (x, y), and inertial navigation system output human motion during earth magnetism
Field measure sequence A={a1,a2,a3…,ap, geomagnetic field measuring value sequence A={a1,a2,a3…,ap}
As observed value sequence, its observed value sequence A={a1,a2,a3…,apA in }1At the beginning of observed value sequence
Measured magnetic field on beginning position, inertial navigation system is by geomagnetic field measuring value sequence
A={a1,a2,a3…,apHausdorff distance is passed through with the earth's magnetic field data value in magnetic field data storehouse
Draw current metric hn, metric hnCircular be: hn=| an-bx,y|, an
For the geomagnetic field measuring value sequence A={a on observed value sequence initial position1,a2,a3…,apArbitrary
Value, bx,yA is measured for inertial navigation systemnShi Zaiti position and this position are by calculating
Position A determined by the possible path gone out (x, magnetic field value y)；
Step 3, records the data in previous path, and previous path data is input to inertial navigation system
In, and inertial navigation system along with human body mobile can real-time update human body course value and step number,
And correspondence calculate current possible path, inertial navigation system can be along with human motion band
Carry out the renewal of human body course value and step number, the metric h current by itnAlso previous path can be become
Metric H be used for realize the metric h that real-time update is currentn, inertial navigation system meeting simultaneously
The metric H in previous path is carried out cumulative as current metric hn, metric gets over novel
Bright closer to observed value sequence, metric is got over the preservation of small path, thus draws human body successively
The mobile possible path existed, owing to inertial navigation system is preset with the quantity of possible path number
Value, its preset value inertial navigation system exceeding possible path quantitative value can be automatically deleted, inertia
Navigation system understands real-time update human body course value and the step of step number along with the mobile of human body: be 1. used to
Property navigation system in preset 45 ° to 135 ° be direction eastwards, 135 ° to 225 ° is direction to the south,
225 ° to 315 ° is westwards direction, and 315 ° to 360 ° and 0 ° to 45 ° is northwards direction, inertial navigation
Along with the mobile meeting of human body, system show that human body course value, human body course value are led according to inertia in real time
The direction preset in boat system draws the accurate direction after the movement of human body, the most also needs to retain phase
Two adjacent backup directions；2. whether inertial navigation system can change according to the step number of human body
Judge whether to update accurate direction and backup direction, when step number has updated, retain above-mentioned steps
In accurate direction and two backup directions, and inertial navigation system can be from magnetic field data storehouse
Mesh point draws accurate direction and the magnetic field value in two backup directions, when step number does not updates, then protects
Stay the mesh point of current location during human motion and be perpendicular to phase on the direction of direction of advance
Adjacent two mesh points, inertial navigation system can the mesh point from magnetic field data storehouse draw with currently
The mesh point of position and be perpendicular to the magnetic field value of adjacent two mesh points on the direction of direction of advance；
3. inertial navigation system draws the metric h of Hausdorff distance successivelyn=| an-bx,y|, anFor seeing
Examine the geomagnetic field measuring value sequence A={a on value sequence initial position1,a2,a3…,apAny value,
bx,yA is measured for inertial navigation systemnShi Zaiti position and this position are by calculating
Position A determined by possible path (x, magnetic field value y), record simultaneously previous path data be before
One Route Routes information A 'M(x’m,y’m), A 'M(x’m,y’m) once calculate before representative in remain
M paths data, then A 'M(x’m,y’m) previous Route Routes information is input to inertial navigation
In system, inertial navigation system is by A 'M(x’m,y’m) previous Route Routes information and this path data
In the cumulative metric as current path data of metric, the path this calculated is by degree
Value sorts from small to large, successively surviving path, due to inertial navigation system is preset with can energy circuit
The quantitative value of footpath number, its preset value inertial navigation system exceeding possible path quantitative value can be certainly
Move and ineligible path is abandoned；
Step 4, the possible path that human motion exists can be preserved by inertial navigation system, and from
Dynamic drawing the human motion possible path to terminal location, what possible path included pre-ordered state can
The metric of energy path, the pointer of sensing pre-ordered state and possible path etc. data, are used to simultaneously
Property navigation system by observed value sequence A={a1,a2,a3…,apLast a is drawn in }pPosition,
Thus obtain the human motion particular location to terminal location；
Step 5, inertial navigation system can (pre-ordered state pointer be with relevant according to the data in previous path
Metric) draw the position in previous path, then inertial navigation system can be according to draw human motion
Use inverse row's output to the particular location of terminal location and the position in previous path and recall whole
The method in path, thus export the human motion shortest path to terminal location.
The present invention can also be used for revising the output result of inertial navigation as supplementary means, from
And reach the purpose of precision navigation, wherein utilize the magnetic field that inertia system exports in the process of walking
Measured value is as observation, and arranges course threshold value simultaneously, and utilizing output course value to do can energy circuit
The judgement in direction, footpath, utilizes viterbi algorithm to find out metric in self-built magnetic field data storehouse minimum
Optimal path, and by algorithm backtracking output result, improve navigation fault-tolerant ability.
The present invention emulates according to above-mentioned path, and its simulation example is specific as follows:
In emulation for the first time, test zone is the indoor shown in Fig. 2, inertial navigation system
Presetting 45 ° to 135 ° in system is direction eastwards, and 135 ° to 225 ° is direction to the south, and 225 ° to 315 ° are
Direction westwards, 315 ° to 360 ° and 0 ° to 45 ° is northwards direction, and initial positions A is (3,11),
Simultaneously when calculating possible path, such as the first step after initial position A is judged as eastwards, then
(3,12), (4,12), (2,11), (4,11) are all the positions that second step may fall, in emulation experiment
It is 128 that the survivor path of middle setting preserves bar number, for testing the performance of the inventive method,
During test, our run trace is the most complicated, to come into the most confusing two classrooms simultaneously,
The centre in two classrooms is only spaced the distance of wall, because the present invention is in the walking of distance
Can gradually abandon the survivor path of bar mistake, so also to walk on one in classroom during test
Segment distance, the error correcting capability of detection algorithm, Fig. 3 is the result figure in an emulation experiment,
Wherein the run trace of inertial navigation system output has entered wrong classroom, and mistake arrives midway is the most through walls
C classroom, in actual life, this substantially can not occur, and experiment shows side of the present invention
Method can overcome the dependence information such as exact stepsize and course value in conventional inertia navigation to carry out indoor
Navigation error corrects the shortcoming of track, improves indoor navigation error correcting capability, and obtains effective room
Interior navigation results.
Beneficial effects of the present invention: compared with prior art, only present invention is primarily aimed at
Utilize measured magnetic field and course substantially to judge to realize the navigation of indoor run trace, tie simultaneously
Close inertial navigation system and self-built magnetic field data storehouse so that navigation is more accurate, improves indoor
Homing capability, reaches the effect of indoor navigation.
Claims (6)
1. an indoor navigation method, it is characterised in that comprise the steps:
Step 1, sets up magnetic field data storehouse, utilizes the inertial navigation system calibrated to collect the data being wanted indoor；
Step 2, draws current metric h according to inertial navigation systemn, by inertial navigation system record its initial position A (x, y), and inertial navigation system output human motion during geomagnetic field measuring value sequence A={a1,a2,a3…,ap, geomagnetic field measuring value sequence A={a1,a2,a3…,apAs observed value sequence, its observed value sequence A={a1,a2,a3…,apA in }1For the measured magnetic field on observed value sequence initial position, inertial navigation system is by geomagnetic field measuring value sequence A={a1,a2,a3…,apCurrent metric h is drawn by Hausdorff distance with the earth's magnetic field data value in magnetic field data storehousen；
Step 3, record the data in previous path, previous path data is input in inertial navigation system, and inertial navigation system along with human body mobile can real-time update human body course value and step number, and correspondence calculate current possible path, inertial navigation system can bring the renewal of human body course value and step number along with human motion, the metric h current by itnAlso the metric h current for realizing real-time update for metric H in previous path can be becomen, the metric H in previous path can be carried out cumulative as current metric h by inertial navigation system simultaneouslyn, thus draw the possible path that human motion exists successively, owing to inertial navigation system is preset with the quantitative value of possible path number, its preset value inertial navigation system exceeding possible path quantitative value can be automatically deleted；
Step 4, the possible path that human motion exists can be preserved by inertial navigation system, and automatically derived human motion is to the possible path of terminal location, possible path includes the possible path of pre-ordered state, points to the pointer of pre-ordered state and the metric of possible path etc. data, and inertial navigation system is calculated observed value sequence A={a by algorithm simultaneously1,a2,a3…,apLast a in }pThe position of point, thus obtain the human motion particular location to terminal location；
Step 5, inertial navigation system can draw the position in previous path according to the data in previous path, then inertial navigation system according to showing that human motion uses inverse row's output and the method recalling whole path to the particular location of terminal location and the position in previous path, thus can export the human motion shortest path to terminal location.
2. a kind of indoor navigation method as claimed in claim 1, it is characterised in that described magnetic field data storehouse of setting up concretely comprises the following steps: a, and the high accuracy Magnetic Sensor in inertial navigation system collects magnetic field data in indoor ready-portioned mesh point point of intersection；B, inertial navigation system stays for some time S in indoor ready-portioned mesh point point of intersection, then in the middle of the field strength values in inertial navigation system is intercepted several, several field strength values forms a set M, thus calculates average M of set Ma=M/Ms, several field strength values forms set a M, MsRepresent the number of set M；C, inertial navigation system will obtain gathering average M of MaBeing entered into successively in the mesh point intersection point in magnetic field data, thus complete from the magnetic field data storehouse setting up grid type, the unit specification in its magnetic field data storehouse is dx×dy, x and y is abscissa and the vertical coordinate of grid in geomagnetic database respectively, dxRepresent the transverse axis length in data base, dyRepresent the longitudinal extent in data base.
3. a kind of indoor navigation method as claimed in claim 2, it is characterised in that in described inertial navigation system, inertial navigation module stays for some time in indoor ready-portioned mesh point point of intersection and is preferably 5 seconds.
4. a kind of indoor navigation method as claimed in claim 2, it is characterized in that, field strength values in described inertial navigation module intercept in the middle of several, several field strength values forms a set M, several field strength values is 5, and 5 field strength values form a set M and are embodied as M={m1,m2,m3,m4,m5, the average of its set M is according to Ma=M/MsM can be obtaineda=M/5.
5. a kind of indoor navigation method as claimed in claim 1, it is characterised in that described step 2 moderate value hnCircular be: hn=| an-bx,y|, anFor the geomagnetic field measuring value sequence A={a on observed value sequence initial position1,a2,a3…,apAny value, bx,yA is measured for inertial navigation systemnShi Zaiti position and this position are by position A determined by the possible path calculated (x, magnetic field value y).
6. a kind of indoor navigation method as claimed in claim 1, it is characterized in that, in described step 3 inertial navigation system along with the mobile of human body can real-time update human body course value and the step of step number: 1. presetting 45 ° to 135 ° in inertial navigation system is direction eastwards, 135 ° to 225 ° is direction to the south, 225 ° to 315 ° is westwards direction, 315 ° to 360 ° and 0 ° to 45 ° is northwards direction, inertial navigation system draws human body course value in real time along with the mobile meeting of human body, human body course value draws the accurate direction after the movement of human body according to the direction preset in inertial navigation system, the most also need to retain adjacent two backup direction；2. whether inertial navigation system can change according to the step number of human body and judge whether to update accurate direction and backup direction, when step number has updated, retain the accurate direction in above-mentioned steps and two backup directions, and inertial navigation system can draw accurate direction and the magnetic field value in two backup directions by the mesh point from magnetic field data storehouse, when step number does not updates, then retain the mesh point of current location during human motion and be perpendicular to adjacent two mesh points on the direction of direction of advance, inertial navigation system can draw the mesh point with current location and be perpendicular to the magnetic field value of adjacent two mesh points on the direction of direction of advance by the mesh point from magnetic field data storehouse；3. inertial navigation system draws the metric h of Hausdorff distance successivelyn=| an-bx,y|, anFor the geomagnetic field measuring value sequence A={a on observed value sequence initial position1,a2,a3…,apAny value, bx,yA is measured for inertial navigation systemnShi Zaiti position and this position be by position A determined by the possible path calculated (x, magnetic field value y) record previous path data the most previous Route Routes information A simultaneously 'M(x’m,y’m), A 'M(x’m,y’m) once calculate before representative in the m paths data that remain, then A 'M(x’m,y’m) previous Route Routes information is input in inertial navigation system, inertial navigation system is by A 'M(x’m,y’m) previous Route Routes information metric as current path data cumulative with the metric in this path data, sort from small to large by metric in the path this calculated, surviving path successively, owing to inertial navigation system is preset with the quantitative value of possible path number, ineligible path can be abandoned by its preset value inertial navigation system exceeding possible path quantitative value automatically.
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| CN106919181A (en) * | 2016-10-20 | 2017-07-04 | 湖南大学 | A kind of unmanned plane barrier-avoiding method |
| CN107490371A (en) * | 2017-07-19 | 2017-12-19 | 广州贰拾肆机器人科技有限公司 | The system of selection of smart machine walking path, smart machine and storage medium |
| CN108519084A (en) * | 2018-02-02 | 2018-09-11 | 中国科学院光电研究院 | A kind of pedestrian of pedestrian's dead reckoning auxiliary ground magnetic positioning method and system |
| CN111381251A (en) * | 2020-03-18 | 2020-07-07 | 杭州微萤科技有限公司 | Positioning system and synchronization chain self-optimization method thereof |
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| CN108519084B (en) * | 2018-02-02 | 2020-09-08 | 中国科学院光电研究院 | Pedestrian geomagnetic positioning method and system assisted by dead reckoning |
| CN111381251A (en) * | 2020-03-18 | 2020-07-07 | 杭州微萤科技有限公司 | Positioning system and synchronization chain self-optimization method thereof |
| CN111381251B (en) * | 2020-03-18 | 2022-04-05 | 杭州微萤科技有限公司 | Synchronous chain self-optimization method of positioning system and positioning system |
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