CN106197412A - The pinpoint method of micro-inertial navigation is carried out based on accelerometer, gyroscope - Google Patents
The pinpoint method of micro-inertial navigation is carried out based on accelerometer, gyroscope Download PDFInfo
- Publication number
- CN106197412A CN106197412A CN201610510837.XA CN201610510837A CN106197412A CN 106197412 A CN106197412 A CN 106197412A CN 201610510837 A CN201610510837 A CN 201610510837A CN 106197412 A CN106197412 A CN 106197412A
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- China
- Prior art keywords
- acceleration
- accelerometer
- patrol officer
- gyroscope
- travel
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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
Abstract
The present invention proposes and a kind of carries out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope, including: utilize the acceleration of patrol officer described in accelerometer measures, according to described acceleration, the traveling of described patrol officer carried out disconnected step；Acceleration maximum according to the step in described patrol officer's traveling process and acceleration minima material calculation；Obtain the gyro data of vertical direction, calculate the deflection of the traveling of described patrol officer according to the gyro data of described vertical direction, it is thus achieved that direct of travel；According to patrol officer from a upper location point to the direct of travel of estimation, the length of step-length of marching forward, form new location point, by that analogy, it is thus achieved that multiple location points of described patrol officer, orient and patrol and examine track.The present invention only by the gyroscope in mobile phone, accelerometer, can realize the location to personnel according to default step-length scheduling algorithm, and positioning precision is high and equipment is simple.
Description
Technical field
The present invention relates to mobile terminal positioning technology field, carry out micro-particularly to one based on accelerometer, gyroscope
The pinpoint method of inertial navigation.
Background technology
Existing personnel positioning mode many employings GPS/ big-dipper satellite location mode, once in the position that signal of communication is the best
Putting, above-mentioned location mode just cannot realize, and is limited by personnel region, has certain limitation.
Summary of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
To this end, it is an object of the invention to propose a kind of based on accelerometer, that gyroscope carries out micro-inertial navigation is pinpoint
Method, only by the gyroscope in mobile phone, accelerometer, can realize the location to personnel according to default step-length scheduling algorithm, fixed
Position precision is high and equipment is simple.
To achieve these goals, embodiments of the invention provide one to carry out micro-inertial navigation based on accelerometer, gyroscope
Pinpoint method, comprises the steps:
Utilize accelerometer, the movement track of gyroscope measuring and calculating patrol officer patrolling and examining in hand-held set, comprise the steps:
Step S1, utilizes the acceleration of patrol officer described in accelerometer measures, patrols and examines described according to described acceleration
The traveling of personnel carries out disconnected step；
Step S2, according to acceleration maximum and the acceleration minima meter of the step in described patrol officer's traveling process
Calculate step-length；
Step S3, obtains the gyro data of vertical direction, calculates described according to the gyro data of described vertical direction
The deflection of the traveling of patrol officer, it is thus achieved that direct of travel；
Step S4, to the estimation of personnel's travel track in units of a step, the disconnected step obtained according to step S1, to each step
According to step S3 obtain patrol officer from a upper location point to estimation direct of travel, the length of step S2 of marching forward estimating step length
Degree, forms new location point, by that analogy, it is thus achieved that multiple location points of described patrol officer, orients and patrol and examine track.
Further, described in patrol and examine hand-held set and be positioned at the low back of described patrol officer so that described in patrol and examine hand-held set
Movement locus consistent with the movement locus at described patrol officer's low back position.
Further, in described step S1, when described acceleration meets following condition, it is judged that described patrol officer steps
One step:
(1) when the acceleration hits of back is more than setting value；
(2) it is more than the square mean number of previous step acceleration when the acceleration maximum of back；
(3) current acceleration positive going zeror crossing.
Further, in described step S2, described step-length L is
L=(amax-amin)0.25,
Wherein, amax is acceleration maximum in a step, and amin is acceleration minima in a step.
Further, in described step S3, described deflection is Anew=A+ ω * Δ t,
Wherein, A is former direct of travel, and ω is new gyroscope sample magnitude, and Δ t is that new sampled value is apart from a upper sampled value
Time, Anew is new direct of travel.
Further, in described step S4, described patrol officer's location point is:
(x, y) new=(x+L*cosA, y+L*sinA),
Wherein, (x, y) is personnel's coordinate, and L is step-length, and A is direct of travel.
According to embodiments of the present invention carry out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope, utilize used
Leading location uses the sensors such as accelerometer, the gyroscope of patrolling and examining in hand-held set to calculate the movement track of personnel.By obtaining respectively
Take disconnected step, step-length and the direct of travel of patrol officer, extrapolate the new location point of personnel, and so on obtain multiple location points
Constitute and patrol and examine track.The present invention is without satellite-signal location such as the GPS/ Big Dippeves, only by the gyroscope in mobile phone, accelerometer,
Can realize the location to personnel according to default step-length scheduling algorithm, positioning precision is high and equipment is simple.
Aspect and advantage that the present invention adds will part be given in the following description, and part will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage are from combining the accompanying drawings below description to embodiment and will become
Substantially with easy to understand, wherein:
Fig. 1 is to carry out the pinpoint method of micro-inertial navigation according to the embodiment of the present invention based on accelerometer, gyroscope
Flow chart.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of embodiment is shown in the drawings, the most identical
Or similar label represents same or similar element or has the element of same or like function.Retouch below with reference to accompanying drawing
The embodiment stated is exemplary, it is intended to is used for explaining the present invention, and is not considered as limiting the invention.
As it is shown in figure 1, the embodiment of the present invention carry out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope,
Utilize accelerometer, the movement track of gyroscope measuring and calculating patrol officer patrolling and examining in hand-held set, comprise the steps:
Step S1, utilizes the acceleration of accelerometer measures patrol officer, enters the traveling of patrol officer according to acceleration
The disconnected step of row.
In one embodiment of the invention, patrol and examine hand-held set and be positioned at the low back of patrol officer, so that patrolling and examining hands
The movement locus holding machine is consistent with the movement locus at patrol officer's low back position.
Human body, during advancing, can produce at vertical direction when single foot lands and the most significantly impact.When acceleration is full
When being enough to lower condition, it is judged that patrol officer steps a step:
(1) when the acceleration hits of back is more than setting value, wherein, setting value can be that 0.05 times of gravity accelerates
Degree；
(2) it is more than the square mean number of previous step acceleration when the acceleration maximum of back；
(3) current acceleration positive going zeror crossing.
Step S2, acceleration maximum and acceleration minima according to the step in patrol officer's traveling process calculate step
Long.Wherein, in traveling process, the severe degree of human body acceleration and the step-length existence function relation of single step, material calculation L is:
L=(amax-amin)0.25,
Wherein, amax is acceleration maximum in a step, and amin is acceleration minima in a step.
Step S3, when wearing hand-held set by regulation requirement, hand-held set and health keep vertical direction substantially, obtain vertically side
To gyro data, calculate the deflection of the traveling of patrol officer according to the gyro data of vertical direction, it is thus achieved that traveling side
To.
Deflection is Anew=A+ ω * Δ t,
Wherein, A is former direct of travel, and ω is new gyroscope sample magnitude, and Δ t is that new sampled value is apart from a upper sampled value
Time, Anew is new direct of travel.
Step S4, to the estimation of personnel's travel track in units of a step, the disconnected step obtained according to step S1, to each step
According to step S3 obtain patrol officer from a upper location point to estimation direct of travel, the length of step S2 of marching forward estimating step length
Degree, forms new location point, by that analogy, it is thus achieved that multiple location points of patrol officer, orients and patrol and examine track.
Patrol officer's location point is:
(x, y) new=(x+L*cosA, y+L*sinA),
Wherein, (x, y) is personnel's coordinate, and L is step-length, and A is direct of travel.
According to embodiments of the present invention carry out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope, utilize used
Leading location uses the sensors such as accelerometer, the gyroscope of patrolling and examining in hand-held set to calculate the movement track of personnel.By obtaining respectively
Take disconnected step, step-length and the direct of travel of patrol officer, extrapolate the new location point of personnel, and so on obtain multiple location points
Constitute and patrol and examine track.The present invention is without satellite-signal location such as the GPS/ Big Dippeves, only by the gyroscope in mobile phone, accelerometer,
Can realize the location to personnel according to default step-length scheduling algorithm, positioning precision is high and equipment is simple.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or spy
Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although above it has been shown and described that embodiments of the invention, it is to be understood that above-described embodiment is example
Property, it is impossible to be interpreted as limitation of the present invention, those of ordinary skill in the art is without departing from the principle of the present invention and objective
In the case of above-described embodiment can be changed within the scope of the invention, revise, replace and modification.The scope of the present invention
Extremely it is equal to by claims and limits.
Claims (6)
1. one kind carries out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope, it is characterised in that utilization is patrolled and examined hand-held
Accelerometer in machine, the movement track of gyroscope measuring and calculating patrol officer, comprise the steps:
Step S1, utilizes the acceleration of patrol officer described in accelerometer measures, according to described acceleration to described patrol officer
Traveling carry out disconnected step；
Step S2, acceleration maximum and acceleration minima according to the step in described patrol officer's traveling process calculate step
Long；
Step S3, obtains the gyro data of vertical direction, patrols and examines according to the gyro data calculating of described vertical direction
The deflection of the traveling of personnel, it is thus achieved that direct of travel；
Step S4, to the estimation of personnel's travel track in units of a step, the disconnected step obtained according to step S1, to each step according to
Step S3 obtain patrol officer from a upper location point to estimation direct of travel, the length of step S2 of marching forward estimating step length,
Form new location point, by that analogy, it is thus achieved that multiple location points of described patrol officer, orient and patrol and examine track.
2. carrying out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope as claimed in claim 1, its feature exists
In, described in patrol and examine hand-held set and be positioned at the low back of described patrol officer so that described in patrol and examine the movement locus of hand-held set with
The movement locus at described patrol officer's low back position is consistent.
3. carrying out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope as claimed in claim 1, its feature exists
In, in described step S1, when described acceleration meets following condition, it is judged that described patrol officer steps a step:
(1) when the acceleration hits of back is more than setting value；
(2) it is more than the square mean number of previous step acceleration when the acceleration maximum of back；
(3) current acceleration positive going zeror crossing.
4. carrying out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope as claimed in claim 1, its feature exists
In, in described step S2, described step-length L is
L=(amax-amin)0.25,
Wherein, amax is acceleration maximum in a step, and amin is acceleration minima in a step.
5. carrying out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope as claimed in claim 1, its feature exists
In, in described step S3, described deflection is Anew=A+ ω * Δ t,
Wherein, A is former direct of travel, and ω is new gyroscope sample magnitude, Δ t be new sampled value apart from a upper sampled value time
Between, Anew is new direct of travel.
6. carrying out the pinpoint method of micro-inertial navigation based on accelerometer, gyroscope as claimed in claim 1, its feature exists
In, in described step S4, described patrol officer's location point is:
(x, y) new=(x+L*cosA, y+L*sinA),
Wherein, (x, y) is personnel's coordinate, and L is step-length, and A is direct of travel.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20161207 Assignee: Dongying Huada Electronic Technology Co., Ltd. Assignor: BEIJING HAYDEN ZHONGKE TECHNOLOGY CO., LTD. Contract record no.: 2017990000036 Denomination of invention: The pinpoint method of micro-inertial navigation is carried out based on accelerometer, gyroscope License type: Common License Record date: 20170125 |
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Application publication date: 20161207 |