CN106289248B - Fixed installation and non-fixed installation mode identification method based on mobile phone - Google Patents
Fixed installation and non-fixed installation mode identification method based on mobile phone Download PDFInfo
- Publication number
- CN106289248B CN106289248B CN201610607020.4A CN201610607020A CN106289248B CN 106289248 B CN106289248 B CN 106289248B CN 201610607020 A CN201610607020 A CN 201610607020A CN 106289248 B CN106289248 B CN 106289248B
- Authority
- CN
- China
- Prior art keywords
- identification
- mobile phone
- fixed installation
- installation mode
- gyroscope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000009434 installation Methods 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000012567 pattern recognition method Methods 0.000 claims 1
- 238000004422 calculation algorithm Methods 0.000 abstract description 17
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007619 statistical method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Telephone Function (AREA)
Abstract
The invention discloses a fixed mounting and non-fixed mounting mode identification method based on a mobile phone, wherein the mobile phone comprises an MEMS (micro electro mechanical System) inertial sensor assembly, the MEMS inertial sensor assembly comprises a gyroscope which is orthogonally mounted in three axes, and the gyroscope angle increment in the horizontal direction in the MEMS inertial sensor assembly in a fixed mounting mode and a non-fixed mounting mode is obtained; respectively selecting identification threshold values according to the obtained angle increment of the gyroscope in the horizontal direction under each installation mode; and setting an identification window T according to the selected identification threshold, and judging whether the mobile phone is in a vehicle-mounted fixed installation mode or a handheld non-fixed installation mode according to the identification window T. The invention can make the mobile phone navigation algorithm switch intelligently between the DR/GPS vehicle-mounted integrated navigation algorithm and the pedestrian navigation algorithm, and lays a foundation for realizing seamless navigation positioning of users in different environments subsequently.
Description
Technical Field
The invention relates to a fixed installation and non-fixed installation mode identification method based on a mobile phone, and belongs to the technical field of handheld device navigation.
Background
At present, MEMS inertial sensor components (including a gyroscope, an accelerometer and a geomagnetic sensor which are orthogonally installed in three axes) and a GPS receiver module are embedded in most of smart phone platforms, so that the research on a navigation positioning key technology based on the smart phone platforms has great significance for realizing seamless navigation positioning of users in different environments. When a user is in a vehicle-mounted environment, fixedly installing a smart phone, and adopting a DR/GPS vehicle-mounted integrated navigation algorithm; when the user is in a handheld walking environment, a pedestrian navigation algorithm is adopted. Therefore, in the key technology of researching navigation and positioning on a mobile phone platform, the fixed installation and non-fixed installation mode identification technology of the mobile phone is indispensable.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a fixed installation and non-fixed installation mode identification method based on a mobile phone.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a fixed mounting and non-fixed mounting mode identification method based on a mobile phone comprises an MEMS inertial sensor assembly, wherein the MEMS inertial sensor assembly comprises a gyroscope with three axes mounted in an orthogonal mode, and the method comprises the following steps:
And 2, respectively selecting identification threshold values according to the angle increment per second of the horizontal gyroscope in each installation mode obtained in the step 1.
And 3, setting an identification window T according to the identification threshold selected in the step 2, and judging whether the mobile phone is in a vehicle-mounted fixed installation mode or a handheld non-fixed installation mode according to the identification window T.
The specific selection of the identification threshold in the step 2 can be performed by firstly performing preliminary selection according to the angle increment per second result of the horizontal gyroscope in the fixed and non-fixed installation modes, and then selecting an optimal threshold according to the statistical result of the identification accuracy of the installation modes under different threshold conditions.
The accuracy statistical method for the installation pattern identification in the step 2 comprises the following steps: and if the results of the angle increment of the two gyros in the horizontal direction per second are within the threshold value, judging that the current moment is in a vehicle-mounted fixed installation mode, and setting the flag bit to be 1. Otherwise, the current moment is judged to be in a handheld non-fixed installation mode, and the flag bit is set to be 0. According to the judgment results of the mobile phone in the fixed and non-fixed installation modes, the number of the zone bits 1 and 0 in the total judgment times is counted, and the accuracy of identification of the mobile phone installation mode under different threshold values is analyzed.
The method for setting the identification window T according to the identification threshold selected in the step 2 in the step 3 comprises the following steps: and if the T flag bits 1 continuously appear, determining that the vehicle-mounted fixed installation mode is adopted. And if the T flag bits 0 continuously appear, the handheld non-fixed installation mode is determined to be in. Otherwise, keeping the judgment mark of the last moment unchanged.
Has the advantages that: compared with the prior art, the fixed installation and non-fixed installation mode identification method based on the mobile phone provided by the invention has the following beneficial effects:
the original output information of an inertial sensor embedded in the mobile phone is adopted, and the proper identification threshold value and the identification window are designed by analyzing the angle increment of the gyroscope in the horizontal direction in fixed and non-fixed installation, so that the successful identification of the fixed and non-fixed installation modes of the mobile phone can be realized. By utilizing the installation pattern identification algorithm, the navigation algorithm can be intelligently switched between the DR/GPS vehicle-mounted combination algorithm and the pedestrian navigation algorithm, so that a foundation is laid for subsequently realizing seamless navigation positioning of users in different environments, and the installation pattern identification algorithm has good engineering application value.
Drawings
Fig. 1 is a schematic view of the mounting of the MEMS inside the mobile phone under the vehicle-mounted fixed mounting.
FIG. 2 is a flow chart of a pattern recognition algorithm for mobile phone vehicle-mounted fixed and non-fixed installations.
Wherein, 1 is the cell-phone, 2 is cell-phone fixed mounting device.
Detailed Description
The present invention is further illustrated by the following description in conjunction with the accompanying drawings and the specific embodiments, it is to be understood that these examples are given solely for the purpose of illustration and are not intended as a definition of the limits of the invention, since various equivalent modifications will occur to those skilled in the art upon reading the present invention and fall within the limits of the appended claims.
Fig. 1 is a schematic diagram of an MEMS component in a mobile phone mounted in a vehicle-mounted fixed manner and mounted in a triaxial orthogonal manner. The X axis points to the side direction of the mobile phone, the Y axis points to the sky direction, and the Z axis points to the opposite direction of the automobile advancing direction. All embedded MEMS inertial sensor subassembly and GPS receiver module on the cell-phone platform, MEMS inertial sensor subassembly includes: the device comprises a gyroscope, an accelerometer and a geomagnetic sensor which are arranged in a three-axis orthogonal mode.
When the mobile phone is fixedly mounted on a vehicle and DR/GPS vehicle navigation is carried out, because the Y-axis gyroscope senses a course angle, and meanwhile, the automobile carries out two-dimensional horizontal motion under most conditions, the angle increment of the gyroscope (an X axis and a Z axis) in the horizontal direction per second is small and stable; when the mobile phone is in non-fixed installation such as handheld walking, the angle increment of the gyro (X axis and Z axis) in the horizontal direction per second is large and unstable. The fixed and non-fixed installation modes of the mobile phone can be identified by detecting the angle increment of the gyroscope (namely an X axis and a Z axis) in the horizontal direction per second in real time and setting a proper identification threshold value and an identification window.
Setting a proper identification threshold according to the rule of the angle increment per second of the horizontal gyroscope of the mobile phone in the fixed and non-fixed installation modes, if the angle increment per second of the horizontal gyroscope is within the threshold, judging that the current moment is in the vehicle-mounted fixed installation mode, and setting a flag bit to be 1; and if the current time is beyond the threshold value, judging that the current time is in a handheld non-fixed installation mode, and setting the flag bit to be 0. Meanwhile, in order to improve the accuracy of algorithm identification per second and prevent the navigation algorithm from being frequently switched in different modes, an identification window T needs to be set, namely if T flag bits 1 continuously appear, the navigation algorithm is judged to be in a vehicle-mounted fixed installation mode; if T flag bits 0 continuously appear, determining that the mobile terminal is in a handheld non-fixed installation mode; otherwise, keeping the judgment mark of the last moment unchanged.
As shown in fig. 2, the method specifically includes the following steps:
The gyro angle increment per second calculation formula is as follows:
where Δ θkThe angle increment of the gyroscope at the kth second moment is represented by degree; n is the data output frequency of the inertial sensor, and the unit is Hertz; omega is the original output of the gyroscope in the horizontal direction, the unit is radian/second, and delta t is the acquisition time interval, and the unit is second.
And 2, respectively selecting identification threshold values according to the angle increment per second of the horizontal gyroscope in each installation mode obtained in the step 1.
The specific selection of the identification threshold in step 2 may be performed by first performing preliminary selection (approximate selection) according to the angle increment per second result of the horizontal gyroscope in the fixed and non-fixed installation modes, and then selecting an optimal threshold according to the statistical result of the identification accuracy of the installation modes under different threshold conditions.
The accuracy statistical method for the installation pattern identification in the step 2 comprises the following steps: and if the results of the angle increment of the two gyros in the horizontal direction per second are within the threshold value, judging that the current moment is in a vehicle-mounted fixed installation mode, and setting the flag bit to be 1. Otherwise, the current moment is judged to be in a handheld non-fixed installation mode, and the flag bit is set to be 0. According to the judgment results of the mobile phone in the fixed and non-fixed installation modes, the number of the zone bits 1 and 0 in the total judgment times is counted, and the accuracy of identification of the mobile phone installation mode under different threshold values is analyzed.
And 3, setting an identification window T according to the identification threshold selected in the step 2, and judging whether the mobile phone is in a vehicle-mounted fixed installation mode or a handheld non-fixed installation mode according to the identification window T.
The method for setting the identification window T according to the identification threshold selected in the step 2 in the step 3 comprises the following steps: and under the condition of selecting a proper identification threshold value, selecting an optimal installation pattern according to the statistical result of the identification accuracy of the installation pattern under different identification windows. Specifically, if T flag bits 1 appear continuously, it is determined that the vehicle-mounted fixed installation mode is established. And if the T flag bits 0 continuously appear, the handheld non-fixed installation mode is determined to be in. Otherwise, keeping the judgment mark of the last moment unchanged.
The setting of the identification window can improve the accuracy of the identification algorithm and prevent the navigation algorithm from being frequently switched under different modes. However, as the identification window increases, the accuracy of the identification algorithm gradually increases, but the delay time of the time point of the installation mode switching also becomes longer, so that the identification window can be reasonably selected according to the actual situation in engineering application.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (2)
1. A fixed mounting and non-fixed mounting mode identification method based on a mobile phone, the mobile phone comprises an MEMS inertial sensor component, the MEMS inertial sensor component comprises a gyroscope with three axes orthogonally mounted, and the method is characterized by comprising the following steps:
step 1, acquiring a gyro angle increment in a horizontal direction in an MEMS inertial sensor assembly in a fixed mounting mode and a non-fixed mounting mode;
the calculation formula of the gyro angle increment in the horizontal direction is as follows:
wherein, Delta thetakThe angle increment of the gyroscope at the kth second moment; n is the inertial sensor data output frequency, omegaiThe gyroscope is originally output in the horizontal direction, and delta t is an acquisition time interval;
step 2, respectively selecting identification threshold values according to the angle increment of the gyroscope in the horizontal direction under each installation mode obtained in the step 1;
if the results of the two gyro angle increments in the horizontal direction are within the threshold value, judging that the current moment is in a vehicle-mounted fixed installation mode, and setting the flag bit to be 1; otherwise, judging that the current moment is in a handheld non-fixed installation mode, and setting the flag bit to be 0; counting the number of flag bits 1 and 0 in the total judgment times according to the judgment results of the mobile phone in the fixed and non-fixed installation modes, and analyzing the accuracy of identification of the mobile phone installation mode under different threshold values;
step 3, setting an identification window T according to the identification threshold selected in the step 2, and judging whether the mobile phone is in a vehicle-mounted fixed installation mode or a handheld non-fixed installation mode according to the identification window T;
if T flag bits 1 continuously appear, determining that the vehicle-mounted fixed installation mode is in; if T flag bits 0 continuously appear, determining that the mobile terminal is in a handheld non-fixed installation mode; otherwise, keeping the judgment mark of the last moment unchanged.
2. The method of claim 1, wherein the pattern recognition method comprises: the specific selection of the identification threshold in the step 2 is firstly carried out according to the angle increment results of the horizontal gyroscope in the fixed and handheld non-fixed installation modes, and then an optimal threshold is selected according to the statistical result of the identification accuracy of the installation modes under different threshold conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607020.4A CN106289248B (en) | 2016-07-28 | 2016-07-28 | Fixed installation and non-fixed installation mode identification method based on mobile phone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607020.4A CN106289248B (en) | 2016-07-28 | 2016-07-28 | Fixed installation and non-fixed installation mode identification method based on mobile phone |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106289248A CN106289248A (en) | 2017-01-04 |
| CN106289248B true CN106289248B (en) | 2020-04-24 |
Family
ID=57662519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610607020.4A Expired - Fee Related CN106289248B (en) | 2016-07-28 | 2016-07-28 | Fixed installation and non-fixed installation mode identification method based on mobile phone |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106289248B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107199969B (en) * | 2017-05-04 | 2020-01-14 | 深圳市金立通信设备有限公司 | Vehicle-mounted navigation state monitoring method and terminal |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10145707B2 (en) * | 2011-05-25 | 2018-12-04 | CSR Technology Holdings Inc. | Hierarchical context detection method to determine location of a mobile device on a person's body |
| WO2014001947A1 (en) * | 2012-06-28 | 2014-01-03 | Koninklijke Philips N.V. | A method of estimating the position of a device and an apparatus implementing the same |
| CN105547291B (en) * | 2015-12-31 | 2018-11-30 | 湖南格纳微信息科技有限公司 | The adaptive static detection method of indoor occupant freedom positioning system |
-
2016
- 2016-07-28 CN CN201610607020.4A patent/CN106289248B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN106289248A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101628427B1 (en) | Deadreckoning-based navigation system using camera and control method thereof | |
| EP3047304B1 (en) | Method and apparatus for determination of misalignment between device and vessel using acceleration/deceleration | |
| EP3281020B1 (en) | Opportunistic calibration of a smartphone orientation in a vehicle | |
| US9823709B2 (en) | Context awareness based on angles and orientation | |
| CN104197934B (en) | A kind of localization method based on earth magnetism, apparatus and system | |
| WO2013184249A1 (en) | Context aware map application | |
| CN105674984A (en) | Method for acquiring advancing directions of pedestrians by aid of mobile terminals without constraints | |
| CN109001789B (en) | Unmanned vehicle positioning fusion method based on cross-correlation entropy registration | |
| CN106289248B (en) | Fixed installation and non-fixed installation mode identification method based on mobile phone | |
| JP2015127674A (en) | GPS smart system | |
| US20160007286A1 (en) | Method and system for an accurate energy-efficient outdoor localization on a mobile device | |
| KR20120056696A (en) | Method for estimating displacement of user terminal and apparatus for the same | |
| KR101831891B1 (en) | Apparatus and method for position calculation, and computer program for executing the method | |
| US9368032B1 (en) | System and method for locating a vehicle within a parking facility | |
| CN116449396A (en) | GNSS deception signal detection method, device, equipment and product | |
| US9400181B2 (en) | Systems and methods for detection of magnetic and motion-based landmarks | |
| JP6400489B2 (en) | Navigation device and computer program | |
| CN104251700A (en) | Method and equipment for automatically describing indoor position | |
| JP2008180642A (en) | Position retrieval system, mobile terminal, and position retrieval method | |
| CN115267868B (en) | Positioning point processing method and device and computer readable storage medium | |
| CN104601819A (en) | Navigation control method and device for mobile terminal | |
| CN110702105B (en) | Axial recognition method and device for navigation device and storage medium | |
| JP6330266B2 (en) | Mobile terminal and program | |
| KR20120093682A (en) | System and method for presumming of position between two mobile devices | |
| KR101536051B1 (en) | Method and apparatus for recognizing action of user based on acceleration and position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200424 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |