CN106441290B - A kind of indoor orientation method dynamically adjusted in real time based on moving direction - Google Patents
A kind of indoor orientation method dynamically adjusted in real time based on moving direction Download PDFInfo
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- CN106441290B CN106441290B CN201610826999.4A CN201610826999A CN106441290B CN 106441290 B CN106441290 B CN 106441290B CN 201610826999 A CN201610826999 A CN 201610826999A CN 106441290 B CN106441290 B CN 106441290B
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- acceleration
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- moving direction
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The present invention is using a kind of indoor orientation method dynamically adjusted in real time based on moving direction.In position fixing process, the positioning device that personnel to be positioned carry periodically sends acceleration information to server.After server receives the acceleration information that positioning device is sent, realize that the real-time dynamic of moving direction adjusts by 4 modules.4 modules are respectively: initial moving direction determination module, mobile equidirectional acceleration maximum value adjust module, moving direction reversion determination module, stationary state determination module in real time.This method solves the problems, such as the Zero drift in main amplifier and inertial drift of acceleration transducer device with lower complexity, improves the reliability of moving direction identification, improves the stability and accuracy of positioning.
Description
Technical field
The present invention relates to indoor positioning technologies field, technical field of inertial and wireless sensor network technology fields.
Background technique
Global Satellite Navigation System includes the GPS system (Global Positioning System) in the U.S., Russia
GLONASS system (Global Navigation Satellite System), the galileo satellite navigation system of European Union and in
Dipper system of state etc..Global Satellite Navigation System calculates mesh to be measured by measuring the distance of multi-satellite to object to be measured
Target three-dimensional coordinate, positioning accuracy is at 10 meters or so.However, Global Satellite Navigation System has some limitations, i.e., can not
Carry out indoor positioning.It is low to be primarily due to satellite-signal power, the barriers such as building can not be penetrated, block and ask there are positioning
Topic.With the rapid development of mobile Internet in recent years, data and multimedia service are quicklyd increase, and people are for indoor positioning
Demand increasingly increase.Low cost and high-precision indoor positioning are realized in life, and there is more and more important realistic meaning.
Indoor positioning technologies include the location technology based on ranging and the location technology based on inertial navigation.Based on ranging
The basic principle of location technology is measured by some parameters to the radio wave received, according to specific algorithm pair
A certain mobile terminal or individual are accurately measured in sometime locating geographical location, to provide for mobile terminal user
Relevant location information service.Location technology based on ranging includes based on received signal strength, based on angle of arrival and is based on
Location technology of arrival time etc..The signal that location technology based on received signal strength passes through the beaconing nodes received is strong
Information is spent, range information is calculated with radio wave propagation empirical equation, recycles data or fitting method that can obtain destination node
Location information, positioning accuracy is highly susceptible to the influence of radio environment；Location technology based on angle of arrival passes through mesh
It marks node and emits signal to beaconing nodes, beaconing nodes measure the angle that signal reaches, calculate the coordinate of destination node, determine
Position precision is influenced by antenna angle measurement accuracy；Location technology based on arrival time by measurement destination node and beaconing nodes it
Between time of arrival (toa) calculate destination node the distance between to beaconing nodes, then pass through three multiplied by signal speed
Side mensuration calculates the coordinate of destination node, and positioning accuracy is influenced by clock synchronization.These three location technologies require
At least three beaconing nodes in communication range.
Compared with the location technology based on ranging, the location technology based on inertial navigation does not need beaconing nodes.Inertia is led
Boat system is a kind of according to inertial sensor module measurement pedestrian movement's parameter, and carries out navigation calculation by navigational computer,
The information such as pedestrian's direction of travel, speed, position are determined in real time, provide the navigation system of visual navigation information for pedestrian.Wherein, it is used to
Property sensor module generally refer to the micro inertial measurement unit being made of three axis accelerometer and three-axis gyroscope.Inertial navigation system
System usually requires an external system and provides primary condition, and the position with update the system is then constantly measured in inertial reference system
Information.Location technology based on inertial navigation is mainly used in following two categories scene.The first kind is special applications scene, example
If fireman positions, because mounted beaconing nodes are easy damage in building when building catches fire；Second class scene is
Beaconing nodes are not installed in building.
In recent years, the concern and research based on the location technology of inertial navigation by more and more Scientific Research Workers.
For example IEEE International is published in CK Schindhelm, F Gschwandtner and M Banholzer
An entitled Usability in Symposium on Personal Indoor&Mobile Radio Communications
In the paper of of Apple iPhones for Inertial Navigation Systems, author using iPhone 3GS and
Inertial sensor module built in iPhone4 develops inertial navigation indoor locating system, and successfully depicts pedestrian's walking
Track.But existing indoor positioning technologies also fail to successfully solve drifting problem.It is an object of the present invention to further solve
The Zero drift in main amplifier and inertial drift problem of sensor component, improve the accuracy and stability of indoor positioning.
Summary of the invention
There is Zero drift in main amplifier and inertial drift in acceleration transducer device.Zero drift in main amplifier refers to static
When, acceleration transducer device exports non-zero acceleration value.Inertial drift problem refers to acceleration transducer device by moving to
When static, due to inertia, the acceleration value of device output cannot fall to zero at once.
Zero drift in main amplifier and inertial drift problem for acceleration transducer device, the present invention propose a kind of based on shifting
The indoor orientation method that dynamic direction dynamically adjusts in real time, specific technical solution are as follows.
In position fixing process, positioning device periodically sends acceleration information to server, and wherein acceleration information has been
Component of the acceleration of gravity on each axis is removed, after server receives the acceleration information that positioning device is sent, by first
Beginning moving direction determination module, mobile equidirectional acceleration maximum value adjust in real time module, moving direction reversion determination module and
Stationary state determination module carries out data analysis and process, realizes that the real-time dynamic of moving direction adjusts, 4 modules tool
Hold in vivo as follows.
1. the determination module of initial moving direction
Given threshold δ1If the absolute value for the acceleration information that server receives is less than δ1, then current acceleration is posted
Numerical value is set to zero in storage, and the numerical value of stationary state counter is increased by 1, otherwise writes the acceleration value received at this time
Enter current acceleration register, and the numerical value of stationary state counter is set to zero.If the acceleration information received at this time
Absolute value for the first time more than δ1, then it is determined as initial moving direction occurred, and the acceleration value received at this time is written
Acceleration maximum value register.Here, δ1Related to device, specific value exports when will be static according to acceleration transducer device
The null offset size of data is set.
2. mobile equidirectional acceleration maximum value adjusts module in real time
If the product of numerical value is greater than zero in the acceleration information that server receives and acceleration maximum value register, and
And the former absolute value is bigger than the absolute value of the latter, then by the acceleration value received at this time write-in acceleration maximum value deposit
Device, to realize the real-time adjustment of mobile equidirectional acceleration maximum value.
3. moving direction inverts determination module
Determine whether to invert successful key to be to find moving direction reversion critical moment accurately.When one of following three kinds of situations
When appearance, has there is moving direction reversion critical moment in judgement.Situation is first is that numerical value is zero in previous rate register；Situation two
It is the product of numerical value in numerical value and the first two rate register in previous rate register less than zero；Situation is third is that previous speed is deposited
The product of numerical value is greater than zero in numerical value and the first two rate register in device, and in previous rate register numerical value close to zero.
Here, what previous rate register stored is the speed data of previous moment, when what the first two rate register stored is previous again
The speed data at quarter.
Critical moment is inverted in this moving direction, if the absolute value of the acceleration information received at this time is greater than acceleration
N times of numerical value in maximum value register then determines to invert successfully, and the acceleration value received at this time write-in acceleration is maximum
Otherwise numerical value in current acceleration register and present speed register is set to zero by value register.Here n should not be obtained too
Small, too small then easy erroneous judgement is at inverting successfully.
4. stationary state determination module
The N number of acceleration information being most recently received is respectively stored in N number of acceleration temporary register first by server, so
This N number of acceleration information is handled afterwards.When one of following two situation occurs, determine that personnel to be positioned are in static shape
State.Situation is first is that N number of acceleration value is in given threshold δ recently2It is interior, and the square absolute value of the difference of this N number of numerical value is less than
Threshold value δ3, the selection of N is related with sample frequency here, δ2、δ3Value it is related to sensor inertial and lag characteristic；Situation two
The numerical value for being stationary state counter is more than setting value.Here, setting value should not obtain too big or too small, may well grow very much
Time can not find moving direction, the too small moving direction for being possible to find mistake.When judgement, personnel to be positioned remain static
When, it needs numerical value in numerical value in numerical value in current acceleration register, present speed register, acceleration maximum value register
It is set to zero.
Integral Processing finally is carried out to the acceleration information after 4 resume modules, obtains the location information of personnel to be positioned.
Using the technical solution, the beneficial effect is that, solve Zero drift in main amplifier and inertia drift with lower complexity
Shifting problem improves the reliability of moving direction identification, improves the stability and accuracy of positioning.
Detailed description of the invention
A kind of indoor orientation method schematic diagram dynamically adjusted in real time based on moving direction of Fig. 1
The initial moving direction determination module schematic diagram of Fig. 2
The mobile equidirectional acceleration maximum value of Fig. 3 adjusts module diagram
Fig. 4 moving direction inverts determination module schematic diagram
Fig. 5 stationary state determination module schematic diagram
X-axis acceleration transducer data real-time schematic diagram when Fig. 6 is static
The displacement diagram that Fig. 7 does not use moving direction dynamically to adjust in real time
The real-time schematic diagram of Fig. 8 acceleration maximum value
The displacement diagram that Fig. 9 uses moving direction dynamically to adjust in real time
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing.Such as Fig. 1, positioning device is periodically
Acceleration information is sent to server, after server receives the acceleration information that positioning device is sent, passes through 4 module realities
The real-time dynamic of existing moving direction adjusts, and finally to treated, acceleration information carries out Integral Processing, obtains personnel to be positioned
Location information.4 module implementation processes are as follows.
1. initial moving direction determination module is implemented
Given threshold δ1If the absolute value for the acceleration information that server receives is less than δ1, then current acceleration is posted
Numerical value is set to zero in storage, and the numerical value of stationary state counter is increased by 1, otherwise writes the acceleration value received at this time
Enter current acceleration register, and the numerical value of stationary state counter is set to zero.If the acceleration information received at this time
Absolute value for the first time more than δ1, then it is determined as initial moving direction occurred, and the acceleration value received at this time is written
Acceleration maximum value register.
2. mobile equidirectional acceleration maximum value adjusts module implementation in real time
If the product of numerical value is greater than zero in the acceleration information that server receives and acceleration maximum value register, and
And the former absolute value is bigger than the absolute value of the latter, then by the acceleration value received at this time write-in acceleration maximum value deposit
Device.
3. the determination module of moving direction reversion is implemented
When one of following three kinds of situations occur, has there is moving direction reversion critical moment in judgement.Situation is first is that previous
Numerical value is zero in rate register；Situation second is that in previous rate register in numerical value and the first two rate register numerical value product
Less than zero；Situation is and preceding third is that the product of numerical value is greater than zero in numerical value and the first two rate register in previous rate register
Numerical value is close to zero in one rate register.
Critical moment is inverted in this moving direction, if the absolute value of the acceleration information received at this time is greater than acceleration
N times of numerical value in maximum value register then determines to invert successfully, and the acceleration value received at this time write-in acceleration is maximum
Otherwise numerical value in current acceleration register and present speed register is set to zero by value register.
4. stationary state determination module is implemented
The N number of acceleration information being most recently received is respectively stored in N number of acceleration temporary register first by server, so
This N number of acceleration information is handled afterwards.When one of following two situation occurs, determine that personnel to be positioned are in static shape
State.Situation is first is that N number of acceleration value is in given threshold δ recently2It is interior, and the square absolute value of the difference of this N number of numerical value is less than
Threshold value δ3；Situation is second is that the numerical value of stationary state counter is more than setting value.When determining that personnel to be positioned remain static,
It needs to set numerical value in numerical value in numerical value in current acceleration register, present speed register, acceleration maximum value register
It is zero.
In order to verify effect of the invention, inventor implements two groups of experiments.Testing the equipment used is that smart phone (is set
It is standby to be integrated with 3-axis acceleration sensor module), the sample frequency used is 50Hz.
First group of experiment: inventor carries smart phone and remain stationary state, and smart phone is every 0.02 second to service
Device sends an X-axis acceleration transducer data, after server receives the acceleration information that smart phone is sent, carries out real
Shi Huitu processing.Experimental result as shown in fig. 6, acceleration information in ± 0.2m/s2Between fluctuate.It is asked to solve null offset
Topic, by threshold value δ1It is taken as 0.2.
Second group of experiment: inventor's carrying mobile phone according to " move to right it is-static-move to left it is-static-move to right-it is static " mode transport
Dynamic, smart phone every 0.02 second sends an X-axis acceleration transducer data to server, and server receives intelligent hand
After the acceleration information that machine is sent, is analyzed and handled in real time.Fig. 7 is not determined using what moving direction dynamically adjusted in real time
Position is not as a result, the moving direction shown between 7.92 seconds to 9.60 seconds is inconsistent with actual motion direction, and there are apparent inertial drifts
Problem.Fig. 8 is the change curve of acceleration maximum value in position fixing process, and the acceleration maximum value moved to right for the first time is 20.95m/
s2, the acceleration maximum value moved to left is -12.81m/s2, the acceleration maximum value to move right for the second time is 10.14m/s2, with movement
Mode matches.Fig. 9 is the positioning result adjusted in real time using moving direction, and display inventor has first moved right 0.8446 meter,
0.9680 meter then is moved to left, 0.8076 meter is finally moved to right, matches with motor pattern, solve the problems, such as inertial drift.
Claims (5)
1. a kind of indoor orientation method dynamically adjusted in real time based on moving direction, it is characterised in that including following four step,
S1: the judgement of initial moving direction；
S2: the real-time adjustment of mobile equidirectional acceleration maximum value；
S3: the judgement of moving direction reversion；
S4: the judgement of stationary state.
2. a kind of indoor orientation method dynamically adjusted in real time based on moving direction as described in claim 1, the step S1
Further comprise:
If the absolute value for the acceleration information that server receives is less than given threshold, by number in current acceleration register
Value is set to zero, and the numerical value of stationary state counter is increased by 1, otherwise currently adds the acceleration value received at this time write-in
Rate register, and the numerical value of stationary state counter is set to zero；If the absolute value of the acceleration information received at this time
It is more than for the first time given threshold, is then determined as initial moving direction occurred, and the acceleration value received at this time write-in is added
Speed maximum value register.
3. a kind of indoor orientation method dynamically adjusted in real time based on moving direction as described in claim 1, the step S2
Further comprise:
If the product of numerical value is greater than zero in the acceleration information that server receives and acceleration maximum value register, and preceding
The absolute value of person is bigger than the absolute value of the latter, then acceleration maximum value register is written in the acceleration value received at this time,
To realize the real-time adjustment of mobile equidirectional acceleration maximum value.
4. a kind of indoor orientation method dynamically adjusted in real time based on moving direction as described in claim 1, the step S3
Further comprise:
When one of following three kinds of situations occur, has there is moving direction reversion critical moment in judgement, and situation is first is that previous speed
Numerical value is zero in register；Situation is second is that the product of numerical value and numerical value in the first two rate register is less than in previous rate register
Zero；Situation is third is that the product of numerical value and numerical value in the first two rate register is greater than zero, and previous speed in previous rate register
Spend in register that numerical value is close to zero, " numerical value close to zero " means that the absolute value of numerical value is less than given threshold herein,
Critical moment is inverted in this moving direction, if the absolute value of the acceleration information received at this time is greater than acceleration maximum
N times of numerical value in value register then determines to invert successfully, the acceleration value received at this time write-in acceleration maximum value is posted
Otherwise numerical value in current acceleration register and present speed register is set to zero by storage.
5. a kind of indoor orientation method dynamically adjusted in real time based on moving direction as described in claim 1, the step S4
Further comprise:
Since acceleration transducer device has Zero drift in main amplifier and inertial drift, when personnel's stop motion to be positioned
When, the acceleration transducer in positioning device carried can still export non-zero acceleration value, in order to solve both of these problems, clothes
The N number of acceleration information being most recently received is respectively stored in N number of acceleration temporary register first by business device, then N number of to this
Acceleration information is handled, and when one of following two situation occurs, determines that personnel to be positioned remain static, situation one
It is nearest N number of acceleration value in given threshold, and the variance of this N number of numerical value is smaller, the meaning of " smaller " herein
Think of is that the square absolute value of the difference of this N number of numerical value is less than given threshold；Situation is second is that the numerical value of stationary state counter is more than setting
Value is needed when determining that personnel to be positioned remain static by numerical value, present speed register in current acceleration register
Numerical value is set to zero in interior numerical value, acceleration maximum value register.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104215238A (en) * | 2014-08-21 | 2014-12-17 | 北京空间飞行器总体设计部 | Indoor positioning method of intelligent mobile phone |
| CN104296749A (en) * | 2014-11-03 | 2015-01-21 | 中国科学院深圳先进技术研究院 | Motion state perception-based low power consumption positioning method and system |
| CN104864871A (en) * | 2015-05-27 | 2015-08-26 | 重庆大学 | Indoor positioning and path leading method based on mobile terminal inertial navigation |
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| US20120296603A1 (en) * | 2011-05-16 | 2012-11-22 | Qualcomm Incorporated | Sensor orientation measurement with respect to pedestrian motion direction |
| JP6476925B2 (en) * | 2015-01-30 | 2019-03-06 | カシオ計算機株式会社 | INFORMATION PROCESSING APPARATUS, LOCATION UPDATE METHOD, AND PROGRAM |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104215238A (en) * | 2014-08-21 | 2014-12-17 | 北京空间飞行器总体设计部 | Indoor positioning method of intelligent mobile phone |
| CN104296749A (en) * | 2014-11-03 | 2015-01-21 | 中国科学院深圳先进技术研究院 | Motion state perception-based low power consumption positioning method and system |
| CN104864871A (en) * | 2015-05-27 | 2015-08-26 | 重庆大学 | Indoor positioning and path leading method based on mobile terminal inertial navigation |
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