CN106767771B - A kind of magnetic of the sensor device for indoor navigation ground drawing generating method - Google Patents
A kind of magnetic of the sensor device for indoor navigation ground drawing generating method Download PDFInfo
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- CN106767771B CN106767771B CN201611095264.5A CN201611095264A CN106767771B CN 106767771 B CN106767771 B CN 106767771B CN 201611095264 A CN201611095264 A CN 201611095264A CN 106767771 B CN106767771 B CN 106767771B
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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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
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Abstract
A kind of for the sensor device of indoor navigation and magnetic drawing generating method, including regular hexahedron circuit board and the Magnetic Sensor that six surfaces of regular hexahedron circuit board are arranged in, draught head Δ P and interior architecture design and construction plan view of the current floor relative to ground is obtained；Using the bifurcated mouth on walking path as breakpoint, the discrete segment processing of straightway is carried out to walking path all in indoor plane figure and obtains Discrete line segments segmented paths, unique address number is carried out to each Discrete line segments segmented paths and bifurcated mouth, it at the uniform velocity walks in each Discrete line segments segmented paths, the magnetic induction intensity average value and magnetic gradient data of every bit in the Discrete line segments segmented paths are acquired, the magnetic induction intensity average value and magnetic gradient data constitute magnetic map datum；By Discrete line segments segmented paths unique address number and the pairing storage of corresponding magnetic field map data, to generate the magnetic map for being used for indoor navigation.The magnetic map path that the present invention generates is accurate, positioning accuracy is high.
Description
Technical field
The invention belongs to the indoor navigation field being distributed based on earth magnetism more particularly to a kind of magnetic maps for indoor navigation
Generation method.
Background technique
With the fast development of economic society, the movable interior space of people becomes increasingly huge and complicated, on large-scale ground
The indoor spaces such as lower parking lot, shopping department stores, large-scale logistics warehouse determine the position of oneself or AGV, and along specific
Path navigation seems unable to do what one wishes to indoor a certain destination, especially blind person, and indoor navigation is more when lacking visual ability
For difficulty, therefore there is an urgent need to a kind of indoor positioning airmanships.
Although indoor navigation demand is strong, traditional airmanship is unable to satisfy indoor positioning because of various technical restrictions
It is required that.For example, outdoor utility widest GPS technology is led indoors in use, satellite-signal is easy to be obstructed by building at present
Cause cannot achieve accurate positionin；Although the wireless communication signal of mobile phone can penetrate the wall of most buildings, mobile communication base
The distribution density stood is lower, and the precision positioned using mobile phone wireless communication signal is insufficient；Location technology based on Wi-Fi needs
It is to be understood that the accurate location of each Wi-Fi Hotspot, or even each Wi-Fi signal strength is measured, measurement cost is too
Height, positioning accuracy are difficult to ensure.
Occurs the indoor orientation method being distributed based on earth magnetism in recent years, principle is based in building wall
The change of the ferromagnetic materials to indoor earth magnetic field such as reinforcing bar and indoor shelf, feet, detects interior not using magnetic field sensor
It is positioned with the different magnetic field size of position.Wherein, " drafting " of the magnetic field map in indoor path is the base successfully to navigate
Plinth.There are several deficiencies for existing magnetic field map: first, magnetic field is a gradient fields, and only every bit in path in measuring chamber
Magnetic field strength do not make full use of Distribution of Magnetic Field information, it is more likely that be limited to sensor measurement accuracy and indoor earth's magnetic field
Changes in distribution otherness is too small to be caused to measure " blind area "；Second, building difference floor gap path layout is similar, and magnetic field is surveyed
Amount can be only formed the planar map of horizontal plane, lack this third dimension coordinate information of height；Third, indoor walking path are multiple
It is miscellaneous, when establishing magnetic map, record can not be measured one by one to indoor all possible complete walking path, also lack specific behaviour
Make method to be automatically segmented each fullpath progress science in indoor plane figure, pieces of data when mapping is caused to adopt
Collect the juxtaposition measurement between section.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of path is accurate, the high biography for indoor navigation of positioning accuracy
Sensor arrangement and magnetic ground drawing generating method.
In order to solve the above-mentioned technical problem, the present invention takes following technical scheme:
A kind of sensor device for indoor navigation, including circuit board and for the sensor in magnetic field in measuring chamber, institute
State there are six Magnetic Sensor is arranged altogether, circuit board is regular hexahedron circuit board, six Magnetic Sensors be separately positioned on this positive six
The center on six surfaces of face circuit board body.
A kind of magnetic ground drawing generating method, comprising the following steps:
S1, obtains draught head Δ P of the current floor relative to ground, obtains current building according to formula Δ h=Δ P/ (ρ g)
Height Δ h of the layer relative to ground, wherein ρ is atmospheric density, and g is acceleration of gravity；
S2 obtains the interior architecture design and construction plan view of current floor；
S3 carries out straightway to walking path all in indoor plane figure using the bifurcated mouth on walking path as breakpoint
Discrete segment processing obtains Discrete line segments segmented paths, carries out uniquely to each Discrete line segments segmented paths and bifurcated mouth
Location number, which includes turn crossing, cross crossing and T-shaped crossing on walking path；
S4 at the uniform velocity walks in each Discrete line segments segmented paths, acquires every in the Discrete line segments segmented paths
The magnetic induction intensity average value and magnetic gradient data of a bit, the magnetic induction intensity average value and magnetic gradient data are with constituting magnetic
Diagram data；
S5, by Discrete line segments segmented paths unique address number and the pairing storage of corresponding magnetic field map data, thus
Generate the magnetic map for being used for indoor navigation.
When acquiring magnetic map datum in the step S4, specifically:
S4.1 establishes XYZ coordinate system on regular hexahedron circuit board, and the origin of the XYZ coordinate system is regular hexahedron circuit
The geometric center of plate, each sensor measure the magnetic induction intensity along tri- directions XYZ in respective position, respectively
It is denoted as (xi,yi,zi), i=1~6, corresponding six Magnetic Sensors of the i=1~6；
S4.2 calculates tri- direction magnetic induction intensity average value of XYZ So
Magnetic field gradient matrix g=[the gradient_x gradienty_y at regular hexahedron circuit board geometric center point is obtained afterwards
Gradient_z], wherein
The magnetic field gradient vector of X-direction is
The magnetic field gradient vector of Y-direction is
The magnetic field gradient vector of Z-direction isWherein w is regular hexahedron electricity
Road edges of boards are long, and the magnetic map datum of all walking paths is calculated by acquiring above；
S4.3 saves magnetic map datum.
It is acquired when acquiring magnetic map datum in the step S4 with the frequency of 50Hz or 50Hz or more.
The step S5 specifically: by the magnetic map datum in each Discrete line segments segmented paths with when acquiring measurement
Time is that sequential storage is data matrix, and the data matrix and the number pairing of straightway segmented paths unique address are stored.
The present invention is accurate, quickly, scientifically plan planar magnetic geographic survey path, utilize Magnetic Sensor to measure magnetic field XYZ
Three gradient magnitude of component values and magnetic field in three directions, and by obtaining the floor information where navigating height, it solves existing
The technical problem that some magnetic geographic survey path redundancies, inaccurate and elevation information lack.
Detailed description of the invention
Attached drawing 1 is the schematic perspective view of sensor device in the present invention；
Attached drawing 2 is the flow diagram of the method for the present invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, the invention will be further described with reference to the accompanying drawing.
As shown in Fig. 1, present invention discloses a kind of sensor devices for indoor navigation, including circuit board 1 and use
Magnetic Sensor 2 in magnetic field in measuring chamber, there are six the Magnetic Sensor is arranged altogether, circuit board is regular hexahedron circuit board, should
Six Magnetic Sensors are separately positioned on the center on six surfaces of the regular hexahedron circuit board.The side of regular hexahedron circuit board
1 centimetre, 2 centimetres or other numerical value can be set as needed in length, be not particularly limited herein, can be according to actual use occasion
It is flexibly set with equipment.Utilize the component values and magnetic field gradient numerical value in Magnetic Sensor detection tri- directions magnetic field XYZ.
XYZ coordinate system is established on regular hexahedron circuit board, the origin of the XYZ coordinate system is the several of regular hexahedron circuit board
What center, each sensor measure the magnetic induction intensity along tri- directions XYZ in respective position, are denoted as (x respectivelyi,
yi,zi), corresponding six Magnetic Sensors of i=1-6, the i=1-6.It is obtained first according to the Magnetic Sensor measurement of six different directions
Magnetic induction intensity (the x in tri- direction XYZi,yi,zi), calculate tri- direction magnetic induction intensity average value of XYZ Then 1 central point of regular hexahedron circuit board, that is, XYZ coordinate system origin is obtained
Magnetic field gradient matrix g=[gradient_x gradienty_y gradient_z], wherein
The magnetic field gradient vector of X-direction is
The magnetic field gradient vector of Y-direction is
The magnetic field gradient vector of Z-direction isWherein w is regular hexahedron electricity
Road edges of boards are long.To which three gradient magnitude of component values and magnetic field in three, magnetic field direction can be obtained.
In addition, a kind of present invention further teaches magnetic drawing generating method, the described method comprises the following steps:
S1, obtains draught head Δ P of the current floor relative to ground, obtains current building according to formula Δ h=Δ P/ (ρ g)
Height Δ h of the layer relative to ground, wherein ρ is atmospheric density, and g is acceleration of gravity.The ρ and g is constant, thus according to acquisition
The height that current floor can be obtained in obtained draught head, i.e. auxiliary, is not influenced by absolute pressure big ups and downs, with height
Stability can assist demand of the non-health people such as AGV trolley, blind person to indoor navigation story height information.
S2 obtains the interior architecture design and construction plan view of current floor.
S3 carries out straightway to walking path all in indoor plane figure using the bifurcated mouth on walking path as breakpoint
Discrete segment processing obtains Discrete line segments segmented paths, carries out uniquely to each Discrete line segments segmented paths and bifurcated mouth
Location number, the bifurcated mouth include that turn crossing, cross crossing and T-shaped crossing on walking path or others have
The crossing of inflection point.After address number, indoor all walking paths are all the discrete straight lines after some or all of number
Section segmented paths and turn crossing, cross crossing and T-shaped crossing etc. divide the permutation and combination of prong different order.It greatly reduces
Measurement data when magnetic mapping, also reduces magnetic data storage capacity requirement.By carrying out unique address volume to path
Number, so that it is guaranteed that the uniqueness in path, not will cause redundancy overlapping, improves the accuracy in path.
S4 at the uniform velocity walks in each Discrete line segments segmented paths, acquires every in the Discrete line segments segmented paths
The magnetic induction intensity average value and magnetic gradient data of a bit, the magnetic induction intensity average value and magnetic gradient data are with constituting magnetic
Diagram data.With same posture is hand-held or the equipment such as AGV carry sensor device, before keeping the X axis of Magnetic Sensor, Z axis it is upward
State, human body or AGV at the uniform velocity walk to terminal in Discrete line segments segmented paths from starting point, and Magnetic Sensor is with higher speed
Sample frequency, usually the frequency conversion of 50Hz or 50Hz or more carries out data acquisition, guarantees the magnetic map datum for having sufficient, and will
Magnetic map datum is stored in the digital storage medias such as the EEPROM, hard disk, SD card of single-chip microcontroller.
S5, by Discrete line segments segmented paths unique address number and the pairing storage of corresponding magnetic field map data, thus
Generate the magnetic map for being used for indoor navigation.Specifically: by the magnetic map datum in each Discrete line segments segmented paths to acquire
Time when measurement is that sequential storage is data matrix, and the data matrix and straightway segmented paths unique address number are matched
To storage.
With there is provided magnetic through the invention drawing generating method utilizes the common electronics such as mobile phone, tablet computer equipment or independent work
Story height information is obtained for the air pressure flowmeter sensor of peripheral hardware devices, has the advantages that convenient, accurate, cheap, Neng Goufu
Help AGV trolley, blind person etc. to the map demand of indoor navigation.By indoor path on turn crossing, cross crossing, T-shaped road
Mouth etc. divides prong to carry out the duplicate measurements that Discrete line segments segmentation avoids path overlap part between different complete walking paths,
The workload of mapping is greatly reduced, measurement cost is saved, solves existing magnetic geographic survey path redundancy
Problem.Pahtfinder hard is carried out to the discrete unique encodings of simple straightway on the topology, by discrete segmented linear section and
Turn crossing, cross crossing and T-shaped crossing etc. divide the permutation and combination of prong different order to realize different fullpaths, low
The complexity of navigation.
It should be noted that the above is not limited to the present invention, concept of the invention is not being departed from
Under the premise of, it is any obviously replace it is within the scope of the present invention.
Claims (4)
1. a kind of magnetic of the sensor device for indoor navigation ground drawing generating method, this method are based on sensor device, the biography
Sensor arrangement includes circuit board and the sensor for magnetic field in measuring chamber, and there are six Magnetic Sensor is arranged altogether, circuit board is positive
Hexahedron circuit board, six Magnetic Sensors are separately positioned on the center on six surfaces of the regular hexahedron circuit board,
It is characterized in that, the described method comprises the following steps:
S1, obtains draught head △ P of the current floor relative to ground, obtains current floor phase according to formula △ h=△ P/ (ρ g)
For the height △ h on ground, wherein ρ is atmospheric density, and g is acceleration of gravity；
S2 obtains the interior architecture design and construction plan view of current floor；
It is discrete to carry out straightway to walking path all in indoor plane figure using the bifurcated mouth on walking path as breakpoint by S3
Segment processing obtains Discrete line segments segmented paths, carries out unique address volume to each Discrete line segments segmented paths and bifurcated mouth
Number, which includes turn crossing, cross crossing and T-shaped crossing on walking path；
S4 at the uniform velocity walks in each Discrete line segments segmented paths, acquires every bit in the Discrete line segments segmented paths
Magnetic induction intensity average value and magnetic gradient data, the magnetic induction intensity average value and magnetic gradient data constitute magnetic map number
According to；
S5, by Discrete line segments segmented paths unique address number and the pairing storage of corresponding magnetic map datum, to generate use
In the magnetic map of indoor navigation.
2. magnetic according to claim 1 ground drawing generating method, which is characterized in that acquire magnetic map datum in the step S4
When, specifically:
S4.1 establishes XYZ coordinate system on regular hexahedron circuit board, and the origin of the XYZ coordinate system is regular hexahedron circuit board
Geometric center, each sensor measure the magnetic induction intensity along tri- directions XYZ in respective position, are denoted as respectively
(xi,yi,zi), i=1~6, corresponding six Magnetic Sensors of the i=1~6；
S4.2 calculates tri- direction magnetic induction intensity average value of XYZ Then it obtains
Obtain magnetic field gradient matrix g=[the gradient_x gradient_y gradient_ at regular hexahedron circuit board geometric center point
Z], wherein
The magnetic field gradient vector of X-direction is
The magnetic field gradient vector of Y-direction is
The magnetic field gradient vector of Z-direction isWherein w is regular hexahedron circuit board edge
It is long, the magnetic map datum of all walking paths is calculated by acquiring above；
S4.3 saves magnetic map datum.
3. magnetic according to claim 2 ground drawing generating method, which is characterized in that acquire magnetic map datum in the step S4
When be acquired with the frequency of 50Hz or 50Hz or more.
4. magnetic according to claim 3 ground drawing generating method, which is characterized in that the step S5 specifically: by it is each from
The magnetic map datum dissipated in straightway segmented paths using time when acquiring measurement is sequential storage as data matrix, and by the number
According to matrix and the number pairing storage of Discrete line segments segmented paths unique address.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611095264.5A CN106767771B (en) | 2016-12-02 | 2016-12-02 | A kind of magnetic of the sensor device for indoor navigation ground drawing generating method |
| PCT/CN2016/109447 WO2018098851A1 (en) | 2016-12-02 | 2016-12-12 | Sensor device for indoor navigation and magnetic map generating method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611095264.5A CN106767771B (en) | 2016-12-02 | 2016-12-02 | A kind of magnetic of the sensor device for indoor navigation ground drawing generating method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107421527A (en) * | 2017-07-17 | 2017-12-01 | 中山大学 | A kind of indoor orientation method based on Magnetic Field and motion sensor |
| CN107560616B (en) * | 2017-08-17 | 2020-11-13 | 深圳市元智慧科技有限公司 | Magnetic navigation method and magnetic navigator thereof |
| CN108801259B (en) * | 2018-04-27 | 2021-03-02 | 北京邮电大学 | Indoor navigation method and device and mobile terminal |
| CN110737798B (en) * | 2019-09-26 | 2022-10-14 | 万翼科技有限公司 | Indoor inspection method and related product |
| CN112286181B (en) * | 2020-09-24 | 2023-03-24 | 南京苏美达智能技术有限公司 | Self-walking equipment detection control method based on geomagnetism and self-walking equipment |
| CN112629541A (en) * | 2020-12-18 | 2021-04-09 | 上汽大通汽车有限公司 | Automobile navigation path planning method |
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| CN2781393Y (en) * | 2004-11-18 | 2006-05-17 | 刘芭 | Fluxgate sensor |
| CN104897154A (en) * | 2015-04-29 | 2015-09-09 | 中测高科（北京）测绘工程技术有限责任公司 | Mobile phone-based indoor geomagnetic navigation method and apparatus thereof |
| CN205103321U (en) * | 2015-11-06 | 2016-03-23 | 国网甘肃省电力公司电力科学研究院 | Three -dimensional parallel -plate sensor |
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