CN106500690A - A kind of indoor autonomic positioning method and device based on multi-modal fusion - Google Patents
A kind of indoor autonomic positioning method and device based on multi-modal fusion Download PDFInfo
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- CN106500690A CN106500690A CN201610842408.2A CN201610842408A CN106500690A CN 106500690 A CN106500690 A CN 106500690A CN 201610842408 A CN201610842408 A CN 201610842408A CN 106500690 A CN106500690 A CN 106500690A
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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
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention discloses a kind of indoor autonomic positioning method based on multi-modal fusion, described method comprises the steps：（1）User's flight path is inferred；（2）User's flight path is calibrated.The invention also discloses a kind of indoor freedom positioning device based on multi-modal fusion.Flight path inferred results, based on earth magnetism path matching and indoor characteristic point, are calibrated, eliminate accumulated error, effectively improve indoor autonomous positioning precision by the indoor autonomic positioning method and device based on multi-modal fusion disclosed in this invention.So as to reach in the case where not relying on external environment condition deployment, not needing early stage training, in other words in emergency circumstances, you can realize being accurately positioned and navigating for user.
Description
Technical field
A kind of the present invention relates to wireless location, context-aware technology field, more particularly to room based on multi-modal fusion
Interior autonomic positioning method and device.
Background technology
August 12 days 23 in 2015:30 or so, container at Binhai New Area in Tianjin Fifth Street and the one of Yuejin Road intersection
Harbour explodes.PORT OF TIANJIN " 8 12 " blast causes 165 people wrecked altogether, 8 people's lost contacts.Wherein 24 people of public security fire-fighting personnel, day
75 people of Tianjin port fire fighter, 11 people of people's police, 55 people of other staff.
4 points during morning 3 on the 1st of January in 2013, there is fire in Hangzhou friend Cheng Jigong companies, and 3 firefighterses lose preciousness
Life.
There is fire, stone in morning on October 11st, 2013, Shijingshan District, Beijing apple orchard South Road Dong Kou Xi Longduo markets
The lieutenant Liu Hong chiefs of the chief of staff Liu Hongkun of Jingshan mountain fire-fighting detachment and Eight Great Temples of the Western Hills fire brigade carry out investigations in the return scene of a fire
When lose preciousness life.
In recent years, with China's expanding economy, domestic large-scale theater venue, stadiums, conference and exhibition center, sales field and joy
The large public buildings such as happy place are increasing.Interior architecture area is built up to ultra-large types more than 100,000 square meters, such as most generation
21.7 ten thousand square meter of " Grand National Theatre " construction area of table, 25.8 ten thousand square meter of " Bird's Nest " National Stadium construction area.These
Ultra-large type building scale big, internal structure is very complicated, many building have multi-layer underground cell structure, in emergency circumstances should
First aid is helped and proposes huge challenge.When particularly there is fire, either property or personal security all bring huge danger
Evil.Especially for the commanding of the participation scene of a fire disaster relief and firefighterses, in the face of the condition of a fire that burst comes, due to scene of a fire ground
Reason environment is complicated, and the field condition such as dense smoke, naked light hinders the sight line and travel line of rescuer so that rescue personnel cannot
Accurate positional information is obtained, rescue method can not be not only efficiently performed, be carried out rescue work, more likely lose in the scene of a fire
Even jeopardize the life security of field rescue personnel in direction.It is badly in need of a set of effective indoor positioning scheme.
Most of regions indoors, due to blocking for building, people cannot receive gps satellite signal, GPS substantially
Position error is larger, or even can not be positioned.It is based on less radio-frequency (Radio Frequency Identication, RFID)
Location technology need to lay RFID label tag or antenna in interior of building, based on ultra broadband (Ultra Wide Band,
UWB location technology) needs to lay special location communication device in building, based on determining for ultrasonic wave (Ultrasound)
Position technology needs to dispose substantial amounts of ultrasonic transmission device indoors, needs to pacify indoors based on ultrared indoor positioning technologies
Special optical pickocff is filled, is needed several Bluetooth accessing points are installed indoors based on the indoor technology of bluetooth.WiFi,
The localization method based on fingerprint such as ZigBee, needs early stage collection training to generate and has the fingerprint base of mass data, can just have compared with
Good locating effect.As emergency management and rescue have sudden and destructive, all infrastructure in environment will be unreliable, positioning
The historic training data of middle needs will be unreliable.The conventional indoor positioning technologies of the above, or relying on infrastructure,
The location technology of early stage training is needed in case of emergency not there is availability, being badly in need of one kind in emergency management and rescue need not lay
Infrastructure, while do not need the localization method of the substantial amounts of training of early stage again.
A kind of feasible technical scheme is to use inertial navigation technology.A kind of entirely autonomous airmanship of inertial navigation,
Dependence equipment itself autonomously carries out navigation task, any smooth electrical communication does not occur with extraneous, and works not by meteorological condition
Limit, it is not necessary to extra infrastructure, it is not necessary to early stage training.But inertial navigation is constantly accumulated using acceleration information
Dividing and asking for speed, step-length, the step-length of continuous accumulation will be produced if acceleration information contains noise after constantly integrating
Error.In addition, inertial navigation is using gyroscope information, and constantly integration asks for course, pass through if gyroscope information contains noise
The course error of continuous accumulation will be produced after constantly integrating.The accumulated error for how effectively eliminating inertial navigation becomes emergent
Positioning and the key that navigates in rescue scene.
Content of the invention
The technical problem to be solved be just to provide a kind of do not rely on external environment condition deployment based on multi-modal
The indoor autonomic positioning method of fusion and device.
The present invention is adopted the following technical scheme that：
A kind of indoor autonomic positioning method based on multi-modal fusion, which thes improvement is that, described method include as
Lower step：
(1) user's flight path is inferred
(11) user's initial position is arranged：Customer location displaying is carried out based on traditional outdoor map, automatic in conjunction with GPS
Initialising subscriber position and direction；
(12) location estimation based on wearable inertial sensor：Pin landing instant is detected by accelerometer to calibrate use
Family gait of march, horizontal acceleration double integral are calculated the step-length of each step of user, can be counted by gyroscope with reference to zero-speed detection
Direction knots modification, the step-length with reference to each step and the direction for calculating each step can obtain the position coordinates of each step of user, by nothing
The position coordinates of user is passed to mobile phone or shows user on map after other processing platforms are further processed by gauze network
Positional information；
(13) direction estimation based on detection of turning round：The average of all paces direction estimations between being turned round using user twice
Walking direction estimation as the path and user on path；
(14) detection of turning round based on direction moving average：After flight path inference system starts, user often makes a move execution
Direction moving average, if Current observation direction is less than certain threshold set in advance with the knots modification in moving average direction
Value, then it is assumed that user is walked with step before on same straight line when front direction, when front direction addition direction moving alignment
And more new direction average；On the other hand, if Current observation direction is set more than certain in advance with the knots modification in moving average direction
Fixed threshold value, then it is assumed that user turns round, now, empties direction queue, when front direction adds direction queue, simultaneously handle works as front
To as new direction average；
(15) floor based on air pressure differentiates：According to atmospheric pressure and the relation of height above sea level,
The height above sea level of user current location is calculated, realizes that user place floor judges；
(2) user's flight path calibration
(21) calibration based on the interior such as interior stairs characteristic point：Data statistics air pressure change is collected using baroceptor
Feature, collects data statistics acceleration change feature using acceleration transducer, is extracted using acceleration and air pressure change indoor
The characteristic points such as stair；When indoor feature point detection module detects indoor characteristic point for the first time, give indoor characteristic point and work as
The position coordinates that front flight path is inferred, when indoor feature point detection module subsequently detects indoor characteristic point, the position of user again
The position of indoor characteristic point is calibrated to immediately；
(22) the earth magnetism calibration trigger mechanism based on indoor and outdoor scene detection：By field inside and outside position location satellite quantity divided chamber
Scape, if the average of the visible satellite quantity in a period of time thinks user indoors less than certain threshold value, starts to collect interior
Geomagnetic data, when geomagnetic data amount reaches certain threshold value, triggering ground magnetic tracks calibration algorithm；If visible in a period of time
The average of number of satellite thinks user in outdoor more than certain threshold value, stops collection geomagnetic data and does not trigger ground magnetic tracks calibration calculation
Method；
(23) track based on Geomagnetic signal is calibrated：Data are collected using geomagnetic sensor, GEOMAGNETIC CHANGE feature, profit is counted
Otherness calibration user's flight path with different path Geomagnetism Informations.
Further, after the GPS module in mobile phone or other processing platforms is received through the satellite-signal of building, profit
The positioning result that GPS module is obtained is modified with the dependent coordinate for being currently located building：
(31) according to building horizontal size adjusting parameter, positioning result is made to restrain to building horizontal centre；
(32) the geometry summit using building horizontal plane determines building horizontal plane edge, takes positioning result and building
The intersection point at horizontal centre line and building edge, or positioning result Architectural fringes projection as correction result.
Further, in step (12), described wearable inertial sensor is that footwear carry inertial sensor；Described nothing
Gauze network is low-power consumption bluetooth；Also include in this step judging the static detection whether motion state is in static segment,
If be detected as static if carry out zero-velocity curve, be not otherwise modified, zero-velocity curve be will in quiescent time section obtain speed
Spend with angular speed error as Kalman filtering observed quantity, attitude error, site error and acceleration error estimated,
So as to obtain more accurate position and direction.
Further, described step (21) includes：
(211) according to formulaAir pressure is converted into height above sea level h；
(212) sliding window w1 is maintained to altitude information h；
(213) altitude information in w1 is averaged and adds sliding window w2；
(214) difference DELTA h of data in w2 is calculated every the t1 moment, if Δ h is more than threshold alpha thinks that air pressure quickly becomes
Change, otherwise it is assumed that quickly changing without air pressure；
(215) if the quick change frequency fcn of air pressure exceedes threshold value beta, then it is assumed that floor switching occurs, otherwise cuts without floor
Change；
(216) if accelerometer while floor switches occurs recognizes user in walking states, then it is assumed that Yong Hu
Walk stair；
(217) remain static if accelerometer while floor switches occurring and recognizing user, then it is assumed that Yong Hucheng
Sit elevator.
Further, described step (23) includes：
(231) oppositely magnetic tracks are generated according to positively magnetic tracks；
(232) if triggering is mated for the first time, directly fingerprint base, algorithm is added to terminate positively magnetic tracks；Otherwise
Execute (233)；
(233) forward and reverse ground magnetic tracks and fingerprint base are carried out DTW respectively to mate, if forward and reverse DTW distances are complete
Both greater than threshold value, executes (234)；If forward direction DTW distances are executed (235) less than threshold value；If reversely DTW distances are less than threshold
Value, executes (236)；If forward and reverse DTW distances are all less than threshold value, positive DTW distances are executed less than reverse DTW distances
(235)；If forward and reverse DTW distances are all less than threshold value, positive DTW distances are executed (236) more than reverse DTW distances；
(234) represent in fingerprint base there is no the ground magnetic tracks similar to current position magnetic tracks, current positively magnetic tracks
The end of fingerprint base, algorithm is added to terminate；
(235) there are the ground magnetic tracks similar to current positively magnetic tracks in fingerprint base, be obtained one here and treat
Matchingly magnetic tracks, need to treat matchingly magnetic tracks and further process, and execute (237)
(236) there are the ground magnetic tracks similar to current oppositely magnetic tracks in fingerprint base, be obtained one here and treat
Matchingly magnetic tracks, need to treat matchingly magnetic tracks and further process, and execute (238)
(237) if ground to be matched magnetic tracks are more than threshold value or start point distance with the difference of the current positively length of magnetic tracks
From more than threshold value, then it is assumed that ground to be matched magnetic tracks are not same ground magnetic tracks with current positively magnetic tracks, currently just
To the end that ground magnetic tracks add fingerprint base, execute (231)；If the length of ground to be matched magnetic tracks and current positively magnetic tracks
The difference of degree is less than threshold value less than threshold value and starting point distance, then it is assumed that ground to be matched magnetic tracks are same with current positively magnetic tracks
Bar ground magnetic tracks, the final position that customer location is calibrated to ground to be matched magnetic tracks adds fingerprint ground to be matched magnetic tracks
The end in storehouse, executes (239)；
(238) if ground to be matched magnetic tracks are more than threshold value or start point distance with the difference of the current oppositely length of magnetic tracks
From more than threshold value, then it is assumed that ground to be matched magnetic tracks are not same ground magnetic tracks with current oppositely magnetic tracks, execute
(231)；If ground to be matched magnetic tracks are less than threshold with the difference of the current oppositely length of magnetic tracks less than threshold value and starting point distance
Value, then it is assumed that ground to be matched magnetic tracks are same ground magnetic tracks with current oppositely magnetic tracks, customer location is calibrated to and is treated
The matchingly start position of magnetic tracks, according to earth magnetism Track Pick-up to be matched ground magnetic tracks reversely to be matched, reversely to be matchedly
Magnetic tracks add the end of fingerprint base, execute (2310)；
(239) if the maximum linear length of ground to be matched magnetic tracks and current positively magnetic tracks is counted more than threshold value
The maximum linear direction for calculating ground to be matched magnetic tracks and current position magnetic tracks is poor, updates user course according to this direction difference, no
User course is not then updated；
(2310) if the maximum linear length of ground to be matched magnetic tracks and current oppositely magnetic tracks is counted more than threshold value
The maximum linear direction for calculating ground to be matched magnetic tracks and current position magnetic tracks is poor, updates user course according to this direction difference, no
User course is not then updated.
A kind of indoor freedom positioning device based on multi-modal fusion, which thes improvement is that：Described device includes phase
The wearable inertial sensor communicated by wireless network between mutually and processing platform, described wearable inertial sensor bag
Accelerometer and gyroscope is included, described processing platform includes that flight path inference system and flight path calibration system, wherein flight path are inferred
System includes baroceptor, acceleration transducer, geomagnetic sensor, GPS module and gyro sensor, flight path calibration system
Including the earth magnetism fingerprint matching calibrating die that the floor identification module electrically connected with baroceptor is electrically connected with geomagnetic sensor
The satellite that the indoor feature point detection module that block is electrically connected with baroceptor and acceleration transducer is electrically connected with GPS module
Calibration module；After the position coordinates of user is processed through above-mentioned flight path inference system and flight path calibration system, show on map
Show the positional information of user.
Further, described wireless network is low-power consumption bluetooth.
Further, described wearable inertial sensor is that footwear carry inertial sensor.
Further, described processing platform is smart mobile phone.
Further, described GPS module can also receive Big Dipper satellite signal or glonass signals.
The beneficial effects of the present invention is：
Indoor autonomic positioning method and device based on multi-modal fusion disclosed in this invention, based on earth magnetism path matching
And indoor characteristic point, flight path inferred results are calibrated, accumulated error is eliminated, indoor autonomous positioning essence is effectively improved
Degree.So as to reach in the case where not relying on external environment condition deployment, not needing early stage training, emergency in other words
Under, you can realize being accurately positioned and navigating for user.
Description of the drawings
Fig. 1 is the location estimation flow chart for carrying MEMS inertial sensor based on footwear disclosed in the embodiment of the present invention 1；
Fig. 2 is the height change schematic diagram that fixed position air pressure fluctuation causes in the short time；
Fig. 3 is the height change schematic diagram that same floor walking air pressure fluctuation causes in the short time；
Fig. 4 is the height change schematic diagram that air pressure fluctuation causes in floor handoff procedure；
Fig. 5 is the indoor feature point detection flow chart disclosed in the embodiment of the present invention 1；
Fig. 6 is the GPS location correction effect figure disclosed in the embodiment of the present invention 1；
Fig. 7 is that the result of the test of the localization method disclosed in the embodiment of the present invention 1 illustrates Fig. 1；
Fig. 8 is that the result of the test of the localization method disclosed in the embodiment of the present invention 1 illustrates Fig. 2；
Fig. 9 is that the result of the test of the localization method disclosed in the embodiment of the present invention 1 illustrates Fig. 3；
Figure 10 is that the result of the test of the localization method disclosed in the embodiment of the present invention 1 illustrates Fig. 4；
Figure 11 is the positioning cumulative errors distribution map of the localization method disclosed in the embodiment of the present invention 1；
Figure 12 is the composition frame chart of the positioner disclosed in the embodiment of the present invention 1.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to only in order to explain the present invention
Limit the present invention.
For current indoor occupant Locating System Accuracy is high, accumulated error big, be difficult to the difficult problems such as practicality, the present embodiment is carried
Go out a kind of high accuracy personnel positioning method and apparatus of multimodality fusion calibration, can achieve not relying on the autonomous of external environment condition deployment
It is accurately positioned.Realize positioning by inertial sensor being carried based on footwear, and merge earth magnetism, the indoor data such as geographical feature point and GPS
User's flight path is accurately revised, higher positioning precision is obtained.
By data acquisition, analysis, modeling, checking, the method excavates user, and diverse location is showed indoors
Different characteristic.It is exactly specifically that earth's magnetic field can be because indoor reinforced concrete structure be affected and the different journeys of generation with electronic equipment
The change of degree.People also has regular change in the behavior state pattern of stair activity.The characteristics of air pressure changes with floor exists
Indoor obvious.The present embodiment is on the basis of the location technology for carrying inertial sensor based on footwear, different indoors according to user
The different characteristic that position shows carries out customer location correction, obtains higher positioning precision.
Embodiment 1, present embodiment discloses a kind of indoor autonomic positioning method based on multi-modal fusion, described method
Comprise the steps：
(1) user's flight path is inferred
(11) user's initial position is arranged：Customer location displaying is carried out based on traditional outdoor map, automatic in conjunction with GPS
Initialising subscriber position and direction, can achieve indoor and outdoor seamless switching；
(12) location estimation based on wearable inertial sensor：In user's walking process, both feet alternating lands to support body
The body weight heart, calibrates user's gait of march, horizontal acceleration double integral by accelerometer detection pin landing instant and combines zero
Speed detection is calculated the step-length of each step of user, can be calculated the direction knots modification of each step by gyroscope, combine the step of each step
Long and direction can obtain the position coordinates of each step of user, by wireless network by the position coordinates of user pass to mobile phone or other
Processing platform shows the positional information of user on map after being further processed；In order to obtain more accurate emergency relief people
Member's location estimation, the present embodiment are used using micro electronmechanical (micro-electromechanical system, MEMS) is carried based on footwear
Property sensor location estimation technology, while wearable device also has the advantage such as power consumption, small volume, flexibility height.Be based on
The location estimation difference of mobile phone is, based on footwear carry MEMS inertial sensor location estimation can using zero-speed detection come
The step information of calibration rescue personnel.The location estimation flow process that MEMS inertial sensor is carried based on footwear is as shown in Figure 1.
(13) direction estimation based on detection of turning round：The average of all paces direction estimations between being turned round using user twice
Walking direction estimation as the path and user on path；
When user's straight line moving, rocked by personnel's walking, sensor noise, the extraneous factor shadow such as ferromagnetic material and electrical equipment
Ring, no matter using gyroscope or compass, the continuous fuctuation within a narrow range of the direction estimation of acquisition.For suppressing these accidental fluctuation factors pair
The impact of direction of travel, the present embodiment propose direction Estimation of Mean algorithm based on judgement of turning round, and the physical basis of the algorithm are,
Scene, is affected by wall and interior layout indoors, and user usually walked according to straight line path before the behavior of turning round
's.
It is 0 degree that existing Android platform smart mobile phone defines earth magnetism direct north, is just rotated clockwise to from direct north
South is followed successively by 0+180 degree；Due south is rotated counterclockwise to from direct north and is followed successively by 0-180 degree.
Defined using above-mentioned direction, when user is moved toward near the direction of due south, direct using direction average calculation method
The direction average for asking arithmetic average to be worth to is probably that generation is unusual can not to react true directions near 0 degree.For just eliminating
South is issuable unusual using direction mean value computation to motion, and the present embodiment devises the direction based on positive and negative directional spreding
Mean algorithm, can be prevented effectively from the direction that direction walking is produced near positive and negative 180 degree unusual.
(14) detection of turning round based on direction moving average：After flight path inference system starts, user often makes a move execution
Direction moving average, if Current observation direction is less than certain threshold set in advance with the knots modification in moving average direction
Value, then it is assumed that user is walked with step before on same straight line when front direction, when front direction addition direction moving alignment
And more new direction average；On the other hand, if Current observation direction is set more than certain in advance with the knots modification in moving average direction
Fixed threshold value, then it is assumed that user turns round, now, empties direction queue, when front direction adds direction queue, simultaneously handle works as front
To as new direction average；
Accurately turn round detection to the direction estimation based on sliding window it is critical that, in order to improve detection of turning round
Accuracy rate, the present embodiment propose a kind of detection method of turning round based on direction moving average.Through many experiments, using this base
Effectively can accurately detect in the method for direction moving average and turn round.
(15) floor based on air pressure differentiates：According to atmospheric pressure and the relation of height above sea level,
The height above sea level of user current location is calculated, realizes that user place floor judges；
Inferring in common flight path does not include the differentiation of floor in localization method, but under emergency conditions, elevation information
For many floor locations it is critical that.Abundant experimental results show, walk about in same floor or solid in user's short time
Positioning is put motionless, and as shown in Figures 2 and 3, air pressure fluctuation causes the height change caused due to air pressure fluctuation as can be seen from Figure 4
Height change is much smaller than the height that floor switching occurs.The present embodiment is being independent of any additional infrastructure using barometer
In the case of realize that user place floor judges.
(2) user's flight path calibration
(21) calibration based on the interior such as interior stairs characteristic point：Data statistics air pressure change is collected using baroceptor
Feature, collects data statistics acceleration change feature using acceleration transducer, is extracted using acceleration and air pressure change indoor
The characteristic points such as stair；When indoor feature point detection module detects indoor characteristic point for the first time, give indoor characteristic point and work as
The position coordinates that front flight path is inferred, when indoor feature point detection module subsequently detects indoor characteristic point, the position of user again
The position of indoor characteristic point is calibrated to immediately；
Specifically, indoor environment has geographical feature point (stair or the elevator that some can be detected by inertial sensor
Deng), the present embodiment exactly carries out flight path calibration using these geographical feature points.Indoor feature point detection flow process is not as shown in figure 5,
Only can accurately judge whether user occurs floor switching, and can be in the way of distinguishing floor and switch (stair or elevator).
Realize that using baroceptor (such as barometer) core concept that stair and elevator are recognized is by barometer
Detection air pressure is fast-changing while judge user's walking states by acceleration transducer (such as accelerometer), according in short-term
Interior air pressure change number of times and user's walking states judge that user walks stair or takes elevator.
(22) the earth magnetism calibration trigger mechanism based on indoor and outdoor scene detection：By field inside and outside position location satellite quantity divided chamber
Scape, if the average of the visible satellite quantity in a period of time thinks user indoors less than certain threshold value, starts to collect interior
Geomagnetic data, when geomagnetic data amount reaches certain threshold value, triggering ground magnetic tracks calibration algorithm；If visible in a period of time
The average of number of satellite thinks user in outdoor more than certain threshold value, stops collection geomagnetic data and does not trigger ground magnetic tracks calibration calculation
Method；
Specifically, in wide outdoor, as magnet is few, or mutual distance is farther out, the effect produced by earth magnetism compared with
Little, the change of geomagnetic field intensity less, is therefore not suitable for use in flight path calibration.But indoors, especially armored concrete is tied
Structure is built, and can produce larger interference to earth's magnetic field, in addition indoor presence a lot of infrastructure (stair, elevator, support columns) with
And Code in Hazardous Special Locations (lavatory, boiled water room, machine room) can all affect earth magnetism, different indoor scenes to have different field behaviors, different
Position also has different magnetic signatures, is suitable as the calibration of user's flight path.The present embodiment devises following indoor and outdoor judgement side
Method, due to blocking for building, the number of satellite that GPS module can be searched indoors is much smaller than defending that outdoor can search
Star number amount, according to residing for user, scene is triggering flight path calibration obtaining higher positioning precision.
GPGSV (GPS Satellites in View), it is seen that satellite information, i.e., current GPS module can be searched
All satellite informations, it is the wider a kind of sentence of compatibility in NMEA-0183 agreements, and the GPS module of equipment can be received
Arrive this information.The present embodiment carries out the identification of indoor and outdoor scene using the difference of indoor and outdoor visible satellite quantity.
The present embodiment calculates currently visible number of satellite using GPGSV message, GPS module is presented herein below actual indoors
The GPGSV message for receiving：
$GPGSV,3,1,12,01,73,078,,03,08,084,,04,03,217,,07,20,192,*79
According to NEMA Reference Manual, we understand that the 4th field of message indicates present visible satellite number
Measure as 12, but in a practical situation, we can not merely use this value as currently visible number of satellite, because from disappearing
The 8th, 12,16, the 20 of breath find out that the SNR of these satellite-signals is sky, also just represent these satellites and are not actually chased after
Track is arrived, and remaining value is the cache size after GPS module last time getting satellite information.So the present embodiment is by GPGSV
Information is parsed and is obtained the SNR of each visible satellite signal, when SNR is not empty and SNR>The satellite is just thought when 0
It can be seen that, so just can calculate current visible satellite quantity.
(23) track based on Geomagnetic signal is calibrated：As house reinforced concrete structure and indoor electronic equipment etc. are disturbed
Geomagnetic signal, is distorted Geomagnetic signal, and the Geomagnetic signal in different paths has otherness.The present embodiment is exactly using difference
The otherness of path Geomagnetic signal is by using advanced machine learning pattern matching algorithm, realizing accurately identifying and school for flight path
Accurate.
Data are collected using geomagnetic sensor, GEOMAGNETIC CHANGE feature is counted, using the otherness of different path Geomagnetism Informations
Calibration user's flight path.
Further, under special circumstances (such as the position such as window side, building entrance, when satellite-signal meets positioning requirements)
Opportunistic calibration can be carried out to positioning result using GPS, in order to eliminate the accumulated error of system, this application is fixed to GPS
Position precision has higher requirement.Under conditions of the hardware device of infrastructure or higher precision is not relied on, it is desirable to enter one
Step improves the precision of GPS location, relies only on the improvement of software level.Indoor locating system applies GPS under special circumstances
Opportunistic calibration is carried out, after the GPS module of mobile phone or other processing platforms is received through the satellite-signal of building, due to
When through building, spread speed reduces, and causes the receiver when resolving bigger than normal compared with actual value with the pseudorange of the satellite so that
Calculation result is offset to " DVB " direction, and the positioning result of display is to away from the skew of building direction.For
This feature, the present embodiment are modified to the positioning result that GPS module is obtained using the dependent coordinate for being currently located building：
GPS location precision through revising is lifted to 10 meter of 1 σ (68.27%) by 60 meter of 1 σ (68.27%) as shown in Figure 6.Due at this
The positioning result that we are only needed on GPS horizontal planes in application scenarios, i.e. longitude and latitude is planted, without elevation information, institute
To discuss to the positioning result correction on horizontal plane at this.
(31) according to building horizontal size adjusting parameter, positioning result is made to restrain to building horizontal centre；If building
Thing horizontal centre longitude and latitude is (CENTER_LON, CENTER_LAT), and GPS module positioning result is (LOC_LON, LOC_LAT),
The parameter of longitude and latitude both direction is thetaLon and thetaLat, then revised positioning result is represented by：
correctedLon:=CENTER_LON+thetaLon* (LOC_LON-CENTER_LON)；
correctedLat:=CENTER_LAT+thetaLat* (LOC_LAT-CENTER_LAT)；
Two parameters of wherein thetaLon and thetaLat can adopt LMS (least fibre method) in systems, make correction
Positioning result afterwards converges to minimal error square approach (the coordinate pick-up selection spy of the training sample by map of trained values
The coordinate of different position is obtaining).
(32) the geometry summit using building horizontal plane determines building horizontal plane edge, takes positioning result and building
The intersection point at horizontal centre line and building edge, or positioning result Architectural fringes projection as correction result.This repair
Correction method is set up " in the opportunistic application of this system, the window side residing for user, building entrance are generally placed at building
On this common-sense of the edge of thing " is assumed.This processing method increased the workload of user, and be dfficult to apply to irregular
The building of Geometry edge, universality are poor, but relatively easy.
Further, in step (12), described wearable inertial sensor is that footwear carry inertial sensor；Described nothing
Gauze network is low-power consumption bluetooth；Also include in this step judging the static detection whether motion state is in static segment,
If be detected as static if carry out zero-velocity curve, be not otherwise modified, zero-velocity curve be will in quiescent time section obtain speed
Spend with angular speed error as Kalman filtering observed quantity, attitude error, site error and acceleration error estimated,
So as to obtain more accurate position and direction.
Further, described step (21) includes：
(211) according to formulaAir pressure is converted into height above sea level h；
(212) sliding window w1 is maintained to altitude information h；
(213) altitude information in w1 is averaged and adds sliding window w2；
(214) difference DELTA h of data in w2 is calculated every the t1 moment, if Δ h is more than threshold alpha thinks that air pressure quickly becomes
Change, otherwise it is assumed that quickly changing without air pressure；
(215) if the quick change frequency fcn of air pressure exceedes threshold value beta, then it is assumed that floor switching occurs, otherwise cuts without floor
Change；
(216) if accelerometer while floor switches occurs recognizes user in walking states, then it is assumed that Yong Hu
Walk stair；
(217) remain static if accelerometer while floor switches occurring and recognizing user, then it is assumed that Yong Hucheng
Sit elevator.
Further, described step (23) includes：
(231) oppositely magnetic tracks are generated according to positively magnetic tracks；
(232) if triggering is mated for the first time, directly fingerprint base, algorithm is added to terminate positively magnetic tracks；Otherwise
Execute (233)；
(233) forward and reverse ground magnetic tracks and fingerprint base are carried out DTW (during Dynamic Time Wrapping dynamics respectively
Between regular) coupling, if forward and reverse DTW distances are executed (234) all more than threshold value；If forward direction DTW distances are less than threshold
Value, executes (235)；If reversely DTW distances are executed (236) less than threshold value；If forward and reverse DTW distances are all less than threshold
Value, positive DTW distances are executed (235) less than reverse DTW distances；If forward and reverse DTW distances are all less than threshold value, positive
DTW distances are executed (236) more than reverse DTW distances；
(234) represent in fingerprint base there is no the ground magnetic tracks similar to current position magnetic tracks, current positively magnetic tracks
The end of fingerprint base, algorithm is added to terminate；
(235) there are the ground magnetic tracks similar to current positively magnetic tracks in fingerprint base, be obtained one here and treat
Matchingly magnetic tracks, need to treat matchingly magnetic tracks and further process, and execute (237)
(236) there are the ground magnetic tracks similar to current oppositely magnetic tracks in fingerprint base, be obtained one here and treat
Matchingly magnetic tracks, need to treat matchingly magnetic tracks and further process, and execute (238)
(237) if ground to be matched magnetic tracks are more than threshold value or start point distance with the difference of the current positively length of magnetic tracks
From more than threshold value, then it is assumed that ground to be matched magnetic tracks are not same ground magnetic tracks with current positively magnetic tracks, currently just
To the end that ground magnetic tracks add fingerprint base, execute (231)；If the length of ground to be matched magnetic tracks and current positively magnetic tracks
The difference of degree is less than threshold value less than threshold value and starting point distance, then it is assumed that ground to be matched magnetic tracks are same with current positively magnetic tracks
Bar ground magnetic tracks, the final position that customer location is calibrated to ground to be matched magnetic tracks adds fingerprint ground to be matched magnetic tracks
The end in storehouse, executes (239)；
(238) if ground to be matched magnetic tracks are more than threshold value or start point distance with the difference of the current oppositely length of magnetic tracks
From more than threshold value, then it is assumed that ground to be matched magnetic tracks are not same ground magnetic tracks with current oppositely magnetic tracks, execute
(231)；If ground to be matched magnetic tracks are less than threshold with the difference of the current oppositely length of magnetic tracks less than threshold value and starting point distance
Value, then it is assumed that ground to be matched magnetic tracks are same ground magnetic tracks with current oppositely magnetic tracks, customer location is calibrated to and is treated
The matchingly start position of magnetic tracks, according to earth magnetism Track Pick-up to be matched ground magnetic tracks reversely to be matched, reversely to be matchedly
Magnetic tracks add the end of fingerprint base, execute (2310)；
(239) if the maximum linear length of ground to be matched magnetic tracks and current positively magnetic tracks is counted more than threshold value
The maximum linear direction for calculating ground to be matched magnetic tracks and current position magnetic tracks is poor, updates user course according to this direction difference, no
User course is not then updated；
(2310) if the maximum linear length of ground to be matched magnetic tracks and current oppositely magnetic tracks is counted more than threshold value
The maximum linear direction for calculating ground to be matched magnetic tracks and current position magnetic tracks is poor, updates user course according to this direction difference, no
User course is not then updated.
Shuang An Department Store's (5 layers 80 meters × 80 meters) on Renmin University of China side, to the positioning side disclosed in the present embodiment
Method is tested, randomly select several times result of the test as shown in Fig. 7,8,9,10.Obtain positioning cumulative errors by a large amount of tests
Distribution map is as shown in figure 11.In figure, abscissa is position error, and ordinate is accuracy.Can from positioning cumulative errors distribution map
See, accuracy rate of the position error within 5 meters is lifted to 97% from 67%, and after calibration, precision improvement effect is obvious.
As shown in figure 12, the present embodiment also discloses a kind of indoor freedom positioning device based on multi-modal fusion, described
Device include wearable inertial sensor and the processing platform for being communicated each other by wireless network, described is wearable
Inertial sensor includes that accelerometer and gyroscope, described processing platform include flight path inference system and flight path calibration system,
Wherein flight path inference system includes baroceptor, acceleration transducer, geomagnetic sensor, GPS module and gyro sensor,
Flight path calibration system includes the earth magnetism fingerprint that the floor identification module electrically connected with baroceptor is electrically connected with geomagnetic sensor
Indoor feature point detection module and GPS module electricity that coupling calibration module is electrically connected with baroceptor and acceleration transducer
The satellite calibration module of connection；After the position coordinates of user is processed through above-mentioned flight path inference system and flight path calibration system,
Show the positional information of user on map.
In the present embodiment, described wireless network is low-power consumption bluetooth.Described wearable inertial sensor is carried for footwear
Inertial sensor.Described processing platform is smart mobile phone.Described GPS module can also receive Big Dipper satellite signal or
Glonass signals.
Claims (10)
1. a kind of indoor autonomic positioning method based on multi-modal fusion, it is characterised in that described method comprises the steps：
(1) user's flight path is inferred
(11) user's initial position is arranged：Customer location displaying is carried out based on traditional outdoor map, automatically initial in conjunction with GPS
Change customer location and direction；
(12) location estimation based on wearable inertial sensor：Pin landing instant is detected by accelerometer to calibrate user's row
Enter speed, horizontal acceleration double integral with reference to zero-speed detection calculate each step of user step-length, by gyroscope can calculate per
The direction knots modification of one step, the step-length with reference to each step and direction can obtain the position coordinates of each step of user, by wireless network
The position coordinates of user is passed to mobile phone or shows the position of user after other processing platforms are further processed on map by network
Confidence ceases；
(13) direction estimation based on detection of turning round：Use the average conduct of user's all paces direction estimations between turning round twice
The walking direction estimation of the path and user on path；
(14) detection of turning round based on direction moving average：After flight path inference system starts, user often makes a move execution once
Direction moving average, if Current observation direction is less than certain threshold value set in advance with the knots modification in moving average direction,
Think that user is walked with step before on same straight line when front direction, when front direction adds direction moving alignment and updates
Direction average；On the other hand, if Current observation direction is more than certain threshold set in advance with the knots modification in moving average direction
Value, then it is assumed that user turns round, and now, empties direction queue, when front direction add direction queue and work as front direction as
New direction average；
(15) floor based on air pressure differentiates：According to atmospheric pressure and the relation of height above sea level,
The height above sea level of user current location is calculated, realizes that user place floor judges；
(2) user's flight path calibration
(21) calibration based on the interior such as interior stairs characteristic point：Data statistics air pressure change is collected using baroceptor special
Point, collects data statistics acceleration change feature using acceleration transducer, extracts indoor building using acceleration and air pressure change
The characteristic points such as ladder；When indoor feature point detection module detects indoor characteristic point for the first time, indoor characteristic point is given current
The position coordinates that flight path is inferred, when indoor feature point detection module subsequently detects indoor characteristic point again, the position of user is stood
The position of indoor characteristic point is calibrated to；
(22) the earth magnetism calibration trigger mechanism based on indoor and outdoor scene detection：By scene inside and outside position location satellite quantity divided chamber,
If the average of the visible satellite quantity in a period of time thinks user indoors less than certain threshold value, start to collect indoor earth magnetism
Data, when geomagnetic data amount reaches certain threshold value, triggering ground magnetic tracks calibration algorithm；If the visible satellite in a period of time
The average of quantity thinks user in outdoor more than certain threshold value, stops collection geomagnetic data and does not trigger ground magnetic tracks calibration algorithm；
(23) track based on Geomagnetic signal is calibrated：Data are collected using geomagnetic sensor, GEOMAGNETIC CHANGE feature is counted, using not
Otherness calibration user's flight path with path Geomagnetism Information.
2. the indoor autonomic positioning method based on multi-modal fusion according to claim 1, it is characterised in that：In mobile phone or
After the GPS module of other processing platforms is received through the satellite-signal of building, sat using the related of building is currently located
Mark and the positioning result that GPS module is obtained is modified：
(31) according to building horizontal size adjusting parameter, positioning result is made to restrain to building horizontal centre；
(32) the geometry summit using building horizontal plane determines building horizontal plane edge, takes positioning result and building level
The intersection point at the line of centres and building edge, or positioning result Architectural fringes projection as correction result.
3. the indoor autonomic positioning method based on multi-modal fusion according to claim 1, it is characterised in that：In step
(12), in, described wearable inertial sensor is that footwear carry inertial sensor；Described wireless network is low-power consumption bluetooth；At this
Also include judging in step the motion state whether static detection in static segment, if be detected as static if carry out zero-speed and repair
Just, otherwise it is not modified, zero-velocity curve is speed and the angular speed error that will be obtained in quiescent time section as Kalman
Filtering observed quantity, attitude error, site error and acceleration error are estimated, so as to obtain more accurate position and
Direction.
4. the indoor autonomic positioning method based on multi-modal fusion according to claim 1, it is characterised in that：Described step
Suddenly (21) include：
(211) according to formulaAir pressure is converted into height above sea level h；
(212) sliding window w1 is maintained to altitude information h；
(213) altitude information in w1 is averaged and adds sliding window w2；
(214) difference DELTA h of data in w2 is calculated every the t1 moment, if Δ h is more than threshold alpha thinks that air pressure quickly changes,
Otherwise it is assumed that quickly changing without air pressure；
(215) if the quick change frequency fcn of air pressure exceedes threshold value beta, then it is assumed that floor switching occurs, otherwise switches without floor；
(216) if accelerometer while floor switches occurs recognizes user in walking states, then it is assumed that user is walking building
Ladder；
(217) remain static if accelerometer while floor switches occurring and recognizing user, then it is assumed that user takes electricity
Ladder.
5. the indoor autonomic positioning method based on multi-modal fusion according to claim 1, it is characterised in that described step
Suddenly (23) include：
(231) oppositely magnetic tracks are generated according to positively magnetic tracks；
(232) if triggering is mated for the first time, directly fingerprint base, algorithm is added to terminate positively magnetic tracks；Otherwise execute
(233)；
(233) forward and reverse ground magnetic tracks and fingerprint base are carried out DTW respectively to mate, if forward and reverse DTW distances are all big
In threshold value, execute (234)；If forward direction DTW distances are executed (235) less than threshold value；If reversely DTW distances are held less than threshold value
Row (236)；If forward and reverse DTW distances are all less than threshold value, positive DTW distances are executed (235) less than reverse DTW distances；
If forward and reverse DTW distances are all less than threshold value, positive DTW distances are executed (236) more than reverse DTW distances；
(234) represent in fingerprint base there is no the ground magnetic tracks similar to current position magnetic tracks, current positively magnetic tracks are added
Terminate in the end of fingerprint base, algorithm；
(235) there are the ground magnetic tracks similar to current positively magnetic tracks in fingerprint base, be obtained here one to be matched
Ground magnetic tracks, needs are treated matchingly magnetic tracks and are further processed, and execute (237)
(236) there are the ground magnetic tracks similar to current oppositely magnetic tracks in fingerprint base, be obtained here one to be matched
Ground magnetic tracks, needs are treated matchingly magnetic tracks and are further processed, and execute (238)
(237) if ground to be matched magnetic tracks are big more than threshold value or starting point distance with the difference of the current positively length of magnetic tracks
In threshold value, then it is assumed that ground to be matched magnetic tracks are not same ground magnetic tracks with current positively magnetic tracks, currently positively
Magnetic tracks add the end of fingerprint base, execute (231)；If the length of ground to be matched magnetic tracks and current positively magnetic tracks it
Difference is less than threshold value less than threshold value and starting point distance, then it is assumed that ground to be matched magnetic tracks are same ground with current positively magnetic tracks
Magnetic tracks, the final position that customer location is calibrated to ground to be matched magnetic tracks adds fingerprint base ground to be matched magnetic tracks
End, executes (239)；
(238) if ground to be matched magnetic tracks are big more than threshold value or starting point distance with the difference of the current oppositely length of magnetic tracks
In threshold value, then it is assumed that ground to be matched magnetic tracks are not same ground magnetic tracks with current oppositely magnetic tracks, execute (231)；Such as
Magnetic tracks are less than threshold value with the difference of the current oppositely length of magnetic tracks less than threshold value and starting point distance really to be matchedly, then it is assumed that
Ground to be matched magnetic tracks are same ground magnetic tracks with current oppositely magnetic tracks, and customer location is calibrated to ground to be matched track
The start position of mark, according to earth magnetism Track Pick-up to be matched ground magnetic tracks reversely to be matched, magnetic tracks are added reversely to be matchedly
The end of fingerprint base, executes (2310)；
(239) if the maximum linear length of ground to be matched magnetic tracks and current positively magnetic tracks is calculated and treated more than threshold value
Matchingly the maximum linear direction of magnetic tracks and current position magnetic tracks is poor, updates user course according to this direction difference, otherwise not
Update user course；
(2310) if the maximum linear length of ground to be matched magnetic tracks and current oppositely magnetic tracks is calculated and treated more than threshold value
Matchingly the maximum linear direction of magnetic tracks and current position magnetic tracks is poor, updates user course according to this direction difference, otherwise not
Update user course.
6. a kind of indoor freedom positioning device based on multi-modal fusion, it is characterised in that：Described device includes logical each other
Wearable inertial sensor and processing platform that wireless network is communicated is crossed, described wearable inertial sensor includes accelerating
Degree meter and gyroscope, described processing platform include flight path inference system and flight path calibration system, wherein flight path inference system bag
Include baroceptor, acceleration transducer, geomagnetic sensor, GPS module and gyro sensor, flight path calibration system include with
Earth magnetism fingerprint matching calibration module and gas that the floor identification module of baroceptor electrical connection is electrically connected with geomagnetic sensor
The satellite calibrating die that the indoor feature point detection module of pressure sensor and acceleration transducer electrical connection is electrically connected with GPS module
Block；After the position coordinates of user is processed through above-mentioned flight path inference system and flight path calibration system, show user on map
Positional information.
7. the indoor freedom positioning device based on multi-modal fusion according to claim 6, it is characterised in that：Described nothing
Gauze network is low-power consumption bluetooth.
8. the indoor freedom positioning device based on multi-modal fusion according to claim 6, it is characterised in that：Described can
Wearing inertial sensor is that footwear carry inertial sensor.
9. the indoor freedom positioning device based on multi-modal fusion according to claim 6, it is characterised in that：Described place
Platform is smart mobile phone.
10. the indoor freedom positioning device based on multi-modal fusion according to claim 6, it is characterised in that：Described
GPS module can also receive Big Dipper satellite signal or glonass signals.
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| CN109889974B (en) * | 2019-02-01 | 2021-04-09 | 湖南格纳微信息科技有限公司 | Construction and updating method of indoor positioning multisource information fingerprint database |
| CN109889974A (en) * | 2019-02-01 | 2019-06-14 | 湖南格纳微信息科技有限公司 | A kind of building and update method of indoor positioning multi-source information fingerprint base |
| CN110536248A (en) * | 2019-09-04 | 2019-12-03 | 黎昱 | A kind of processing method, device, readable storage medium storing program for executing and the equipment of fire-fighting data |
| CN111007761A (en) * | 2019-11-28 | 2020-04-14 | 上海蓝色帛缔智能工程有限公司 | Automatic monitoring and management system of data center |
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| CN111486844A (en) * | 2020-04-26 | 2020-08-04 | 常州悦美智能科技有限公司 | Indoor navigation construction and use method and application thereof |
| CN113739784A (en) * | 2020-05-27 | 2021-12-03 | 华为技术有限公司 | Positioning method, user equipment, storage medium and electronic equipment |
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| CN112304316A (en) * | 2020-10-23 | 2021-02-02 | 重庆越致科技有限公司 | Method and device for automatically detecting state and track of pedestrian taking elevator |
| CN112304316B (en) * | 2020-10-23 | 2021-11-26 | 重庆越致科技有限公司 | Method and device for automatically detecting state and track of pedestrian taking elevator |
| CN114577206A (en) * | 2022-03-08 | 2022-06-03 | 宁波诺丁汉大学 | Indoor inertial navigation map building method and system based on ultrasonic waves |
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