CN106767772B - Method and device for constructing geomagnetic fingerprint distribution map and positioning method and device - Google Patents
Method and device for constructing geomagnetic fingerprint distribution map and positioning method and device Download PDFInfo
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- CN106767772B CN106767772B CN201710018246.5A CN201710018246A CN106767772B CN 106767772 B CN106767772 B CN 106767772B CN 201710018246 A CN201710018246 A CN 201710018246A CN 106767772 B CN106767772 B CN 106767772B
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- 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
Abstract
The invention discloses a method and a device for constructing a geomagnetic fingerprint distribution map and a positioning method and a positioning device, wherein the method comprises the following steps: respectively acquiring physical information of each path planned on a map; determining coordinates and geomagnetic fingerprints of each standard coordinate point in the map according to the acquired physical information; forming a geomagnetic fingerprint distribution map of the map by using the coordinates of the standard coordinate points and the geomagnetic fingerprints; and when the user to be positioned needs to be positioned, positioning the user to be positioned according to the acquired physical information of the user to be positioned and the geomagnetic fingerprint distribution map. By applying the scheme of the invention, the accuracy of the positioning result can be improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a positioning technology, in particular to a method and a device for constructing a geomagnetic fingerprint distribution map and a positioning method and a positioning device.
[ background of the invention ]
With the rapid development of the mobile internet, the requirements of people for positioning and navigation are more and more common. For Positioning in outdoor environment, a Global Positioning System (GPS) technology is often used, but the GPS Positioning accuracy is low, and it is not enough to position an accurate position in a narrow indoor place.
In the prior art, multiple sets of positioning devices are based on Bluetooth, wifi, infrared and the like to realize indoor positioning, but the accuracy of positioning results of the positioning methods is low.
[ summary of the invention ]
In view of this, the invention provides a method and an apparatus for constructing a geomagnetic fingerprint distribution map, and a method and an apparatus for positioning, which can improve the accuracy of a positioning result.
The specific technical scheme is as follows:
a construction method of a geomagnetic fingerprint distribution map comprises the following steps:
respectively acquiring physical information of each path planned on a map;
determining coordinates and geomagnetic fingerprints of each standard coordinate point in the map according to the acquired physical information;
and forming a geomagnetic fingerprint distribution map of the map by using the coordinates of each standard coordinate point and the geomagnetic fingerprint so as to position the user to be positioned according to the acquired physical information of the user to be positioned and the geomagnetic fingerprint distribution map when the user to be positioned needs to be positioned.
A method of positioning, comprising:
acquiring physical information of a user to be positioned in real time;
and positioning the user to be positioned according to the acquired physical information of the user to be positioned and the geomagnetic fingerprint distribution map acquired according to the method.
An apparatus for constructing a geomagnetic fingerprint distribution map, comprising: a first building element and a second building element;
the first construction unit is used for respectively acquiring physical information of each path planned on the map and sending the physical information to the second construction unit;
the second construction unit is used for determining the coordinates and the geomagnetic fingerprints of the standard coordinate points in the map according to the acquired physical information, and forming a geomagnetic fingerprint distribution graph of the map by using the coordinates and the geomagnetic fingerprints of the standard coordinate points, so that when a user to be positioned needs to be positioned, the user to be positioned is positioned according to the acquired physical information of the user to be positioned and the geomagnetic fingerprint distribution graph.
A positioning device, comprising: a first positioning unit and a second positioning unit;
the first positioning unit is used for acquiring physical information of a user to be positioned in real time and sending the physical information to the second positioning unit;
and the second positioning unit is used for positioning the user to be positioned according to the physical information of the user to be positioned and the geomagnetic fingerprint distribution map acquired by the device.
Based on the above description, it can be seen that, by adopting the scheme of the present invention, the physical information of each path can be respectively obtained for each path planned on the map, the coordinates and the geomagnetic fingerprints of each standard coordinate point in the map can be determined according to the obtained physical information, and then the coordinates and the geomagnetic fingerprints of each standard coordinate point are used to form a geomagnetic fingerprint distribution map of the map, so that when a user to be positioned needs to be positioned, the user to be positioned can be positioned according to the obtained physical information and the geomagnetic fingerprint distribution map of the user to be positioned.
[ description of the drawings ]
Fig. 1 is a flowchart illustrating a method for constructing a geomagnetic fingerprint distribution map according to an embodiment of the present invention.
Fig. 2 is a flowchart of an embodiment of the positioning method according to the present invention.
Fig. 3 is a schematic diagram illustrating a configuration of an apparatus for constructing a geomagnetic fingerprint distribution map according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a positioning device according to an embodiment of the present invention.
[ detailed description ] embodiments
With the development of the technology, more and more intelligent devices such as mobile phones and smart watches have components such as gyros, accelerometers and geomagnetic sensors, and the components can be used for collecting physical information and the like of the position where the intelligent device is located when the intelligent device is in a starting state. In the scheme of the invention, the positioning of the user is realized by utilizing the characteristics of the intelligent equipment and combining the map.
The scheme of the invention can be suitable for indoor positioning and also suitable for outdoor positioning in a smaller range, and has wide applicability. When indoor positioning is carried out, the map is an indoor map.
The implementation of the scheme of the present invention can be divided into two processes of the construction and the positioning of the geomagnetic fingerprint distribution map, and the following detailed description is made with reference to the accompanying drawings and examples.
Fig. 1 is a flowchart of an embodiment of a method for constructing a geomagnetic fingerprint distribution map according to the present invention, as shown in fig. 1, including the following specific implementation manners.
In 11, for each route planned on the map, physical information of the route is acquired, respectively.
Taking indoor positioning as an example, path acquisition can be performed respectively for each path planned in advance on an indoor map, that is, physical information of each path is acquired respectively.
Assuming that R paths are planned in advance on the indoor map, wherein R is a positive integer greater than one, each path can be selected from the starting point P0To the end point P1The length of each path and the coordinates of the start and end points, etc. are known.
And aiming at each path, in the process that the collection personnel walks from the starting point to the end point of the path, respectively acquiring the geomagnetic fingerprint of each step where the collection personnel walks, taking the end point of each step as a path collection point, respectively acquiring the coordinates of each path collection point, and taking the geomagnetic fingerprint of each step as the geomagnetic fingerprint of the path collection point corresponding to the step.
Specifically, for each path, the acquisition personnel can hold the intelligent device by hand, walk from the starting point to the end point of the path, and judge the arrival of each step according to the real-time step counting program.
When the acquisition personnel walks by one step, the coordinates of the path acquisition points corresponding to the step can be calculated in the following mode:
calculating the sine value of the course angle of the intelligent equipment in the offset reference direction when the intelligent equipment walks through the step, multiplying the obtained sine value by the step length of the step, and adding the product to the x-direction coordinate in the coordinate (x, y) of the terminal point of the previous step to obtain the x-direction coordinate of the terminal point of the step;
calculating a cosine value of a course angle of the intelligent equipment in the offset reference direction when the intelligent equipment walks, multiplying the obtained cosine value by the step length of the step, and adding the product to a y-direction coordinate in coordinates (x, y) of the terminal point of the previous step to obtain a y-direction coordinate of the terminal point of the step;
and the coordinate formed by the x-direction coordinate and the y-direction coordinate of the end point of the step is the coordinate of the path acquisition point corresponding to the step.
How to obtain the step length of each step can be determined according to actual needs, for example, for each path, it can be counted how many steps the collection person walks from the starting point to the end point of the path, and the length of the path is known, then the average step length of each step can be determined, and the calculation is performed by using the determined average step length.
It should be noted that the above-mentioned manner of acquiring the coordinates of the acquisition points of each path is only an example, and is not intended to limit the technical solution of the present invention, and besides the above-mentioned manner, any other manner that can be conceived by those skilled in the art may be adopted.
As described above, besides the need to obtain the coordinates of each path acquisition point, the geomagnetic fingerprint of each step that the person has walked needs to be obtained, and the geomagnetic fingerprint may include: a geomagnetic value and geomagnetic anomaly information.
Specifically, in the process of acquiring walking of a person, current geomagnetic data can be acquired in real time, and the geomagnetic data acquired each time is converted into a geomagnetic value, so that when each step is finished, the geomagnetic values acquired in the step process can be averaged to serve as the geomagnetic value of the step, and the geomagnetic abnormal information of the step can be obtained by subtracting the geomagnetic value of the step from the geomagnetic value of a local standard.
Wherein, the geomagnetic value may include: an east-oriented geomagnetic value, a north-oriented geomagnetic value, and a sky-oriented geomagnetic value.
Accordingly, the geomagnetic anomaly information may include: east geomagnetic anomaly information, north geomagnetic anomaly information, and sky geomagnetic anomaly information.
For geomagnetic data (m)x,my,mz) It can be converted to a geomagnetic value in the following way:
Mu＝-mxsinγcosθ+mysinθ+mzcosγcosθ；
Me＝MHsinψ；
Mn＝MHcosψ；
the angle theta represents the pitch angle of the intelligent equipment held by the acquisition personnel when the geomagnetic data is acquired;
gamma represents a roll angle of intelligent equipment held by an acquisition person when the geomagnetic data is acquired;
psi represents a heading angle of the smart device held by the acquisition person when acquiring the geomagnetic data;
m represents a vector representation of geomagnetism;
Mugeomagnetic value, M, representing the direction of the dayeRepresenting the earth magnetic value of east, MnRepresenting the magnitude of the north earth magnetism.
In addition, according to the local physical position and the world standard geomagnetic database, the geomagnetic values of the east direction, the north direction and the sky direction of the local standard can be calculated.
In this way, after obtaining the geomagnetic value of each step, the east geomagnetic value of the step is subtracted from the east geomagnetic value of the local standard to obtain the east geomagnetic anomaly information of the step, the north geomagnetic value of the step is subtracted from the north geomagnetic value of the local standard to obtain the north geomagnetic anomaly information of the step, and the day geomagnetic anomaly information of the step is subtracted from the day geomagnetic value of the local standard to obtain the geomagnetic anomaly information of the step.
After the processing, the coordinates and the geomagnetic fingerprint of each path acquisition point can be acquired respectively.
At 12, coordinates of each standard coordinate point in the map and the geomagnetic fingerprint are determined according to the acquired physical information.
For each path on the map, the path can be divided according to a preset standard length, the end points of each line segment obtained by division are used as standard coordinate points, the positions of the standard coordinate points are not repeated, and the coordinates of each standard coordinate point are obtained respectively.
The specific value of the standard length can be determined according to actual needs, for example, the step length of most people can be referred to and set to be 0.5 m.
Since the length of each path and the coordinates of the start and end points of each path, etc. are known, the coordinates of each standard coordinate point can be determined separately according to the prior art.
Then, for each standard coordinate point, two route acquisition points closest to the standard coordinate point are determined according to the coordinates of the standard coordinate point and the coordinates of each route acquisition point, and the geomagnetic fingerprint of the standard coordinate point is determined according to the geomagnetic fingerprints of the two route acquisition points.
Specifically, the mode of determining the geomagnetic fingerprint of the standard coordinate point according to the geomagnetic fingerprints of the two path acquisition points may include:
multiplying the east geomagnetic values of the two path acquisition points by the corresponding weighting coefficients respectively, and adding the two multiplication results to obtain an east geomagnetic value of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
assuming that the two path acquisition points are path acquisition point 1 and path acquisition point 2, respectively, then:
the east geomagnetic value of the standard coordinate point is 1 as a weighting coefficient, and the east geomagnetic value of the path acquisition point 1 is + 2 as a weighting coefficient, and the east geomagnetic value of the path acquisition point 2 is 1 as a weighting coefficient;
respectively multiplying the north geomagnetic values of the two path acquisition points by the corresponding weighting coefficients, adding the two multiplication results to obtain a north geomagnetic value of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
respectively multiplying the geomagnetic values of the directions of the two path acquisition points by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic values of the directions of the standard coordinate points, wherein the sum of the two weighting coefficients is one;
multiplying east geomagnetic abnormal information of the two path acquisition points by the corresponding weighting coefficients respectively, adding the two multiplication results to obtain east geomagnetic abnormal information of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
respectively multiplying the geomagnetic abnormal information in the north direction of the two path acquisition points by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic abnormal information in the north direction of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
and respectively multiplying the geomagnetic abnormal information of the two route acquisition points in the direction of day by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic abnormal information of the standard coordinate point in the direction of day, wherein the sum of the two weighting coefficients is one.
At 13, the coordinates of each standard coordinate point and the geomagnetic fingerprint are used to construct a geomagnetic fingerprint distribution map of the map.
After the geomagnetic fingerprint distribution map is obtained, subsequently, when the user to be positioned needs to be positioned, the user to be positioned can be positioned according to the obtained physical information of the user to be positioned and the geomagnetic fingerprint distribution map.
Fig. 2 is a flowchart of an embodiment of the positioning method according to the present invention, as shown in fig. 2, including the following specific implementation manners.
In 21, the physical information of the user to be located is acquired in real time.
The user to be positioned can hold the intelligent equipment to walk, the arrival of each step is judged according to the real-time step counting program in the walking process, the terminal point of each step where the user to be positioned walks is taken as a point to be matched, and the geomagnetic fingerprint and the coordinate offset information of each point to be matched are respectively obtained.
The manner of acquiring the geomagnetic fingerprint of each point to be matched may be the same as the manner of acquiring the geomagnetic fingerprint of each path acquisition point before. How to obtain coordinate offset information of each point to be matched is the prior art.
And in 22, positioning the user to be positioned according to the acquired physical information of the user to be positioned and the geomagnetic fingerprint distribution diagram.
In practical application, the user to be positioned may be periodically positioned, and if the user to be positioned walks M steps, the user to be positioned may perform positioning once, or, when a positioning request is received, the user may perform positioning, and the specific implementation manner is not limited.
M is a positive integer, and a specific value can be determined according to actual needs, generally speaking, the larger the value of M is, the more accurate the subsequent positioning result is, but the longer the required positioning time is, so that a reasonable value needs to be set in consideration of various situations.
When needs fix a position at every turn, can be at first according to the coordinate offset information of M treat that the matching point is nearest, sieve out candidate standard coordinate point from each standard coordinate point, and then according to the earth magnetism fingerprint of M treat that the matching point is nearest and the earth magnetism fingerprint of candidate standard coordinate point, confirm the position of the user of undetermining.
The following describes in detail the manner of screening candidate standard coordinate points and the manner of determining the position of the user to be positioned, respectively.
1) Screening candidate standard coordinate points
First, a navigation sequence may be generated, in which the coordinate offset of each point to be matched in the M points to be matched compared with the previous point to be matched is sequentially recorded in the order of time from the first to the last.
Then, for each standard coordinate point, the coordinate of the standard coordinate point is respectively used as the coordinate of a point to be matched before the first point to be matched in the navigation sequence, and the coordinate of each point to be matched in the navigation sequence is respectively calculated according to each coordinate offset, so that a candidate navigation sequence corresponding to the standard coordinate point is obtained.
For a standard coordinate point, the coordinate of the standard coordinate point is known, and then the coordinate of the standard coordinate point can be used as the coordinate of a point to be matched before the first point to be matched in the navigation sequence, so that under the condition that the coordinate offset of the first point to be matched in the navigation sequence is known, the coordinate of the first point to be matched in the navigation sequence can be calculated, the coordinates of other points to be matched in the navigation sequence can be sequentially calculated, and after the coordinate of each point to be matched in the navigation sequence is respectively determined, the navigation sequence can be used as a candidate navigation sequence corresponding to the standard coordinate point.
Assuming that the map includes K standard coordinate points, where K is a positive integer greater than one, K candidate navigation sequences are obtained, and each standard coordinate point corresponds to one candidate navigation sequence.
And then, according to the obtained candidate navigation sequence, further screening candidate standard coordinate points from the K standard coordinate points.
Specifically, for each candidate navigation sequence, a distance between each point to be matched in the candidate navigation sequence and a standard coordinate point closest to the point to be matched in the candidate navigation sequence may be respectively determined, if the distance with the smallest value is greater than a predetermined threshold value, the standard coordinate point corresponding to the candidate navigation sequence is discarded, and otherwise, the standard coordinate point corresponding to the candidate navigation sequence is taken as the candidate standard coordinate point.
Taking the value of M as 5 as an example, for each candidate navigation sequence, 5 distance values can be respectively determined, the distance value with the minimum value is compared with a predetermined threshold, if the distance value is greater than the threshold, the standard coordinate point corresponding to the candidate navigation sequence can be discarded, otherwise, the standard coordinate point corresponding to the candidate navigation sequence is taken as the candidate standard coordinate point, and the specific value of the threshold can be determined according to actual needs.
2) Determining the position of a user to be positioned
After screening out candidate standard coordinate point, can be according to the earth magnetism fingerprint of the most recent M point of waiting to match and the earth magnetism fingerprint of candidate standard coordinate point, confirm the position of the user of waiting to fix a position.
The number of candidate standard coordinate points may be one, or may be plural, and is usually plural.
And aiming at each candidate standard coordinate point, respectively calculating the Euclidean distance between the geomagnetic value of the candidate standard coordinate point and the geomagnetic value of each point to be matched in the M points to be matched, and adding the M Euclidean distances to obtain a first evaluation value of the candidate standard coordinate point.
Namely, the method comprises the following steps:
wherein d isiA first evaluation value representing a candidate standard coordinate point;
Mek、Mnk、Muksequentially representing the east, north and sky geomagnetic values of the kth point to be matched;
Meki、Mnki、Mukiand sequentially representing the east, north and sky geomagnetism values of the candidate standard coordinate points.
In addition, for each candidate standard coordinate point, the euclidean distance between the geomagnetic anomaly information of the candidate standard coordinate point and the geomagnetic anomaly information of each point to be matched in the M points to be matched can be respectively calculated, and the M euclidean distances are added to obtain a second evaluation value of the candidate standard coordinate point.
Namely, the method comprises the following steps:
wherein d iswiA second evaluation value representing a candidate standard coordinate point;
Mwek、Mwnk、Mwuksequentially representing the east, north and sky geomagnetic abnormal information of the kth point to be matched;
Mweki、Mwnki、Mwukiand sequentially representing the east, north and sky geomagnetism information of the candidate standard coordinate points.
After the first evaluation values of the candidate standard coordinate points are obtained respectively, the candidate standard coordinate points may be sorted in order of the first evaluation values from small to large.
After the second evaluation values of the candidate standard coordinate points are obtained respectively, the candidate standard coordinate points may be sorted in order of the second evaluation values from small to large.
Then, for each candidate standard coordinate point, adding the two times of ordering positions of the candidate standard coordinate point, ordering each candidate standard coordinate point according to the sequence from the small sum to the large sum of the two times of ordering positions, and determining the position of the user to be positioned according to the ordered candidate standard coordinate point at the first position.
Specifically, the order of the two candidate standard coordinate points whose sum of the sorted positions of the two times is the same may be arbitrarily set.
After the candidate standard coordinate point which is arranged in the first order after the ordering is obtained, the position of the user to be positioned can be determined according to the candidate standard coordinate point.
For example, the coordinates of the last point to be matched in the candidate navigation sequence corresponding to the candidate standard coordinate point which is ranked at the first position after the ranking can be used as the position coordinates of the user to be positioned.
The above is a description of method embodiments, and the embodiments of the present invention are further described below by way of apparatus embodiments.
Fig. 3 is a schematic diagram of a configuration of an apparatus for constructing a geomagnetic fingerprint distribution map according to an embodiment of the present invention, as shown in fig. 3, including: a first building element 31 and a second building element 32.
The first constructing unit 31 is configured to, for each route planned on the map, respectively obtain physical information of the route, and send the physical information to the second constructing unit 32.
The second constructing unit 32 is configured to determine coordinates and geomagnetic fingerprints of the standard coordinate points in the map according to the acquired physical information, and form a geomagnetic fingerprint distribution map of the map by using the coordinates and the geomagnetic fingerprints of the standard coordinate points, so that when a user to be positioned needs to be positioned, the user to be positioned is positioned according to the acquired physical information and the geomagnetic fingerprint distribution map of the user to be positioned.
Aiming at each path planned in advance on the map, the acquisition personnel can walk from the starting point to the end point of the path, and the arrival of each step is judged according to the real-time step counting program.
For each route, the first construction unit 31 may respectively obtain the geomagnetic fingerprint of each step that the collection person walks in the process that the collection person walks from the start point to the end point of the route, and respectively obtain the coordinates of each route collection point by using the end point of each step as a route collection point, and use the geomagnetic fingerprint of each step as the geomagnetic fingerprint of the route collection point corresponding to the step.
The geomagnetic fingerprint may include: a geomagnetic value and geomagnetic anomaly information.
Specifically, the first constructing unit 31 may acquire current geomagnetic data in real time in the process of acquiring walking of a person, convert the acquired geomagnetic data into a geomagnetic value each time, average the geomagnetic values acquired in the step process when each step is finished, and obtain a geomagnetic anomaly information of the step by subtracting the geomagnetic value of the step from a geomagnetic value of a local standard.
Wherein, the geomagnetic value may include: an east-oriented geomagnetic value, a north-oriented geomagnetic value, and a sky-oriented geomagnetic value.
Accordingly, the geomagnetic anomaly information may include: east geomagnetic anomaly information, north geomagnetic anomaly information, and sky geomagnetic anomaly information.
The second construction unit 32 may divide each path according to a predetermined standard length, and use an end point of each line segment obtained by the division as a standard coordinate point, respectively obtain coordinates of each standard coordinate point, determine, for each standard coordinate point, two path acquisition points closest to the standard coordinate point according to the coordinates of the standard coordinate point and the coordinates of each path acquisition point, and determine, according to the geomagnetic fingerprints of the two path acquisition points, a geomagnetic fingerprint of the standard coordinate point.
Specifically, the mode of determining the geomagnetic fingerprint of the standard coordinate point according to the geomagnetic fingerprints of the two path acquisition points may include:
multiplying the east geomagnetic values of the two path acquisition points by the corresponding weighting coefficients respectively, and adding the two multiplication results to obtain an east geomagnetic value of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
respectively multiplying the north geomagnetic values of the two path acquisition points by the corresponding weighting coefficients, adding the two multiplication results to obtain a north geomagnetic value of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
respectively multiplying the geomagnetic values of the directions of the two path acquisition points by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic values of the directions of the standard coordinate points, wherein the sum of the two weighting coefficients is one;
multiplying east geomagnetic abnormal information of the two path acquisition points by the corresponding weighting coefficients respectively, adding the two multiplication results to obtain east geomagnetic abnormal information of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
respectively multiplying the geomagnetic abnormal information in the north direction of the two path acquisition points by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic abnormal information in the north direction of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
and respectively multiplying the geomagnetic abnormal information of the two route acquisition points in the direction of day by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic abnormal information of the standard coordinate point in the direction of day, wherein the sum of the two weighting coefficients is one.
Fig. 4 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, as shown in fig. 4, including: a first positioning unit 41 and a second positioning unit 42.
The first positioning unit 41 is configured to obtain physical information of a user to be positioned in real time, and send the physical information to the second positioning unit 42.
And the second positioning unit 42 is configured to position the user to be positioned according to the physical information of the user to be positioned and the geomagnetic fingerprint distribution map.
The geomagnetic fingerprint distribution map is the geomagnetic fingerprint distribution map acquired by the apparatus shown in fig. 3.
In practical application, in the walking process of the user to be positioned, the first positioning unit 41 may determine the arrival of each step according to a real-time step counting program, and take the end point of each step that the user to be positioned walks through as a point to be matched, and respectively obtain the geomagnetic fingerprint and the coordinate offset information of each point to be matched.
The second positioning unit 42 may screen candidate standard coordinate points from each standard coordinate point according to coordinate offset information of the nearest M points to be matched when positioning is required each time, and determine the position of the user to be positioned according to the geomagnetic fingerprint of the nearest M points to be matched and the geomagnetic fingerprint of the candidate standard coordinate points, where M is a positive integer.
As shown in fig. 4, the second positioning unit 42 may specifically include: a screening subunit 421 and a positioning subunit 422.
The screening subunit 421 is configured to screen candidate standard coordinate points from each standard coordinate point according to coordinate offset information of the nearest M points to be matched when positioning is required each time.
Specifically, when positioning is required each time, the screening subunit 421 can perform the following processes:
generating a navigation sequence, wherein the coordinate offset of each point to be matched in the M points to be matched compared with the previous point to be matched is sequentially recorded according to the sequence of time from first to last;
aiming at each standard coordinate point, respectively taking the coordinate of the standard coordinate point as the coordinate of a point to be matched before a first point to be matched in the navigation sequence, and respectively calculating the coordinate of each point to be matched in the navigation sequence according to the offset of each coordinate to obtain a candidate navigation sequence corresponding to the standard coordinate point;
and respectively determining the distance between each point to be matched in the candidate navigation sequence and the standard coordinate point closest to the candidate navigation sequence aiming at each candidate navigation sequence, if the distance with the minimum value is greater than a preset threshold value, discarding the standard coordinate point corresponding to the candidate navigation sequence, and otherwise, taking the standard coordinate point corresponding to the candidate navigation sequence as the candidate standard coordinate point.
The positioning sub-unit 422 is configured to determine the position of the user to be positioned according to the geomagnetic fingerprints of the M closest points to be matched and the geomagnetic fingerprints of the candidate standard coordinate points.
Specifically, for each candidate standard coordinate point, the positioning subunit 422 may perform the following processing:
respectively calculating Euclidean distances between the geomagnetic value of the candidate standard coordinate point and the geomagnetic value of each point to be matched in the M points to be matched, and adding the M Euclidean distances to obtain a first evaluation value of the candidate standard coordinate point;
respectively calculating Euclidean distances between the geomagnetic abnormal information of the candidate standard coordinate point and the geomagnetic abnormal information of each point to be matched in the M points to be matched according to each candidate standard coordinate point, and adding the M Euclidean distances to obtain a second evaluation value of the candidate standard coordinate point;
sequencing the candidate standard coordinate points according to the sequence of the first evaluation value from small to large;
sequencing the candidate standard coordinate points according to the sequence of the second evaluation value from small to large;
for each candidate standard coordinate point, respectively adding the two sequencing positions of the candidate standard coordinate point;
and sequencing the candidate standard coordinate points according to the sequence from small to large of the sum of the two sequencing positions, and determining the position of the user to be positioned according to the sequenced candidate standard coordinate point at the first position.
For example, the coordinates of the last point to be matched in the candidate navigation sequence corresponding to the candidate standard coordinate point which is ranked at the first position after the ranking can be used as the position coordinates of the user to be positioned.
For the specific work flow of the device embodiments shown in fig. 3 and fig. 4, please refer to the corresponding description in the foregoing method embodiments, which is not repeated.
In a word, the scheme of the invention can improve the accuracy of the positioning result, and the scheme of the invention can be suitable for indoor positioning and also can be suitable for outdoor positioning in a smaller range, thereby having wide applicability.
The above-described methods and apparatus provided by embodiments of the present invention may be embodied in a computer program that is configured and operable to be executed by a device. The apparatus may include one or more processors, and further include memory and one or more programs. Where the one or more programs are stored in memory and executed by the one or more processors to implement the method flows and/or device operations illustrated in the above-described embodiments of the invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (19)
1. A method for constructing a geomagnetic fingerprint distribution map is characterized by comprising the following steps:
respectively acquiring physical information of each path planned on a map; the physical information of the path comprises geomagnetic fingerprints of all path acquisition points on the path;
determining coordinates and geomagnetic fingerprints of each standard coordinate point in the map according to the acquired physical information, wherein the determination of the standard coordinate points specifically comprises: dividing each path according to a preset standard length, and taking the end point of each line segment obtained by division as a standard coordinate point;
the coordinates of each standard coordinate point and the geomagnetic fingerprint are utilized to form a geomagnetic fingerprint distribution diagram of the map, so that when a user to be positioned needs to be positioned, the user to be positioned is positioned according to the acquired physical information of the user to be positioned and the geomagnetic fingerprint distribution diagram, wherein the positioning of the user to be positioned comprises the following steps: when positioning is needed each time, candidate standard coordinate points are screened out from the standard coordinate points according to the obtained coordinate offset information of the M nearest points to be matched, the position of the user to be positioned is determined according to the obtained geomagnetic fingerprints of the M nearest points to be matched and the geomagnetic fingerprints of the candidate standard coordinate points, wherein M is a positive integer, the points to be matched are the end points of each step which is walked by the user to be positioned in the walking process, and the coordinate offset information is the coordinate offset of each point to be matched compared with the previous point to be matched.
2. The method of claim 1,
the respectively acquiring the physical information of the paths includes:
and aiming at each path, in the process that the collection personnel walks from the starting point to the end point of the path, respectively acquiring the geomagnetic fingerprint of each step that the collection personnel walks, taking the end point of each step as a path acquisition point, respectively acquiring the coordinate of each path acquisition point, and taking the geomagnetic fingerprint of each step as the geomagnetic fingerprint of the path acquisition point corresponding to the step.
3. The method of claim 2,
the geomagnetic fingerprint comprises: geomagnetic values and geomagnetic anomaly information;
the respectively acquiring the geomagnetic fingerprint of each step that the collection personnel walk comprises:
acquiring current geomagnetic data in real time in the walking process of the acquisition personnel, and converting the acquired geomagnetic data into geomagnetic values each time;
and when each step is finished, averaging the geomagnetic values acquired in the step process to be used as the geomagnetic value of the step, and subtracting the geomagnetic value of the step from the geomagnetic value of the local standard to obtain the geomagnetic abnormal information of the step.
4. The method of claim 3,
the determining the coordinates and the geomagnetic fingerprints of the standard coordinate points in the map according to the acquired physical information includes:
dividing each path according to a preset standard length, taking the end point of each line segment obtained by division as a standard coordinate point, and respectively obtaining the coordinate of each standard coordinate point;
and aiming at each standard coordinate point, determining two path acquisition points which are closest to the standard coordinate point according to the coordinates of the standard coordinate point and the coordinates of each path acquisition point, and determining the geomagnetic fingerprint of the standard coordinate point according to the geomagnetic fingerprints of the two path acquisition points.
5. The method of claim 4,
the geomagnetic values include: an east geomagnetic value, a north geomagnetic value, and a sky geomagnetic value;
the geomagnetic anomaly information includes: east geomagnetic anomaly information, north geomagnetic anomaly information, and sky geomagnetic anomaly information.
6. The method of claim 5,
the determining the geomagnetic fingerprint of the standard coordinate point according to the geomagnetic fingerprints of the two path acquisition points includes:
respectively multiplying the east geomagnetic values of the two path acquisition points by the corresponding weighting coefficients, and adding the two multiplication results to obtain an east geomagnetic value of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
respectively multiplying the north geomagnetic values of the two path acquisition points by the corresponding weighting coefficients, and adding the two multiplication results to obtain a north geomagnetic value of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
respectively multiplying the geomagnetic values of the directions of day of the two path acquisition points by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic values of the directions of day of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
multiplying east geomagnetic abnormal information of the two path acquisition points by corresponding weighting coefficients respectively, and adding the two multiplication results to obtain east geomagnetic abnormal information of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
respectively multiplying the geomagnetic abnormal information in the north direction of the two path acquisition points by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic abnormal information in the north direction of the standard coordinate point, wherein the sum of the two weighting coefficients is one;
and respectively multiplying the geomagnetic abnormal information of the two route acquisition points in the direction of day by the corresponding weighting coefficients, adding the two multiplication results to obtain the geomagnetic abnormal information of the standard coordinate point in the direction of day, wherein the sum of the two weighting coefficients is one.
7. A method of positioning, comprising:
acquiring physical information of a user to be positioned in real time;
positioning the user to be positioned according to the acquired physical information of the user to be positioned and the geomagnetic fingerprint distribution map acquired according to the method of any one of claims 1 to 6;
the acquiring physical information of a user to be positioned in real time comprises:
in the walking process of the user to be positioned, taking the end point of each step that the user to be positioned walks as a point to be matched, and respectively acquiring the geomagnetic fingerprint and coordinate offset information of each point to be matched, wherein the coordinate offset information is the coordinate offset of each point to be matched compared with the previous point to be matched;
the positioning the user to be positioned comprises:
when positioning is needed each time, candidate standard coordinate points are screened out from all the standard coordinate points according to coordinate offset information of M nearest points to be matched, and the position of the user to be positioned is determined according to the geomagnetic fingerprints of the M nearest points to be matched and the geomagnetic fingerprints of the candidate standard coordinate points, wherein M is a positive integer.
8. The method of claim 7,
the screening of candidate standard coordinate points from each standard coordinate point according to the coordinate offset information of the latest M points to be matched comprises:
generating a navigation sequence, wherein the coordinate offset of each point to be matched in the M points to be matched compared with the previous point to be matched is sequentially recorded according to the sequence of time from first to last;
for each standard coordinate point, respectively taking the coordinate of the standard coordinate point as the coordinate of a point to be matched before a first point to be matched in the navigation sequence, and respectively calculating the coordinate of each point to be matched in the navigation sequence according to the offset of each coordinate to obtain a candidate navigation sequence corresponding to the standard coordinate point;
and respectively determining the distance between each point to be matched in the candidate navigation sequence and the standard coordinate point closest to the point to be matched in the candidate navigation sequence, if the distance with the minimum value is greater than a preset threshold value, discarding the standard coordinate point corresponding to the candidate navigation sequence, and otherwise, taking the standard coordinate point corresponding to the candidate navigation sequence as the candidate standard coordinate point.
9. The method of claim 7,
the geomagnetic fingerprint comprises: geomagnetic values and geomagnetic anomaly information;
the determining the position of the user to be positioned according to the geomagnetic fingerprints of the latest M points to be matched and the geomagnetic fingerprints of the candidate standard coordinate points comprises:
respectively calculating Euclidean distances between the geomagnetic value of the candidate standard coordinate point and the geomagnetic value of each point to be matched in the M points to be matched according to each candidate standard coordinate point, and adding the M Euclidean distances to obtain a first evaluation value of the candidate standard coordinate point;
respectively calculating Euclidean distances between the geomagnetic abnormal information of the candidate standard coordinate points and the geomagnetic abnormal information of each point to be matched in the M points to be matched according to each candidate standard coordinate point, and adding the M Euclidean distances to obtain a second evaluation value of the candidate standard coordinate point;
sequencing the candidate standard coordinate points according to the sequence of the first evaluation value from small to large;
sequencing the candidate standard coordinate points according to the sequence of the second evaluation value from small to large;
for each candidate standard coordinate point, respectively adding the two sequencing positions of the candidate standard coordinate point;
and sequencing the candidate standard coordinate points according to the sequence from small to large of the sum of the two sequencing positions, and determining the position of the user to be positioned according to the sequenced candidate standard coordinate point at the first position.
10. The method of claim 9,
the determining the position of the user to be positioned according to the sorted candidate standard coordinate point at the first position comprises:
and taking the coordinate of the last point to be matched in the candidate navigation sequence corresponding to the sorted candidate standard coordinate point at the first position as the position coordinate of the user to be positioned.
11. An apparatus for constructing a geomagnetic fingerprint distribution map, comprising: a first building element and a second building element;
the first construction unit is used for respectively acquiring physical information of each path planned on the map and sending the physical information to the second construction unit; the physical information of the path comprises geomagnetic fingerprints of all path acquisition points on the path;
the second construction unit is used for determining the coordinates and the geomagnetic fingerprints of the standard coordinate points in the map according to the acquired physical information, and forming a geomagnetic fingerprint distribution diagram of the map by using the coordinates and the geomagnetic fingerprints of the standard coordinate points, so that when a user to be positioned needs to be positioned, the user to be positioned is positioned according to the acquired physical information of the user to be positioned and the geomagnetic fingerprint distribution diagram; the determining of the standard coordinate point specifically includes: dividing each path according to a preset standard length, and taking the end point of each line segment obtained by division as a standard coordinate point; the positioning the user to be positioned comprises: when positioning is needed each time, candidate standard coordinate points are screened out from the standard coordinate points according to the obtained coordinate offset information of the M nearest points to be matched, the position of the user to be positioned is determined according to the obtained geomagnetic fingerprints of the M nearest points to be matched and the geomagnetic fingerprints of the candidate standard coordinate points, wherein M is a positive integer, the points to be matched are the end points of each step which is walked by the user to be positioned in the walking process, and the coordinate offset information is the coordinate offset of each point to be matched compared with the previous point to be matched.
12. The apparatus of claim 11,
the first construction unit is used for acquiring the geomagnetic fingerprint of each step taken by an acquisition person respectively in the process that the acquisition person walks from the starting point to the end point of the path according to each path, taking the end point of each step as a path acquisition point, acquiring the coordinate of each path acquisition point respectively, and taking the geomagnetic fingerprint of each step as the geomagnetic fingerprint of the path acquisition point corresponding to the step.
13. The apparatus of claim 12,
the geomagnetic fingerprint comprises: geomagnetic values and geomagnetic anomaly information;
the first construction unit acquires current geomagnetic data in real time in the walking process of the acquisition personnel, converts the acquired geomagnetic data into geomagnetic values each time, averages the geomagnetic values acquired in the step process to serve as the geomagnetic values of the step when each step is finished, and obtains geomagnetic anomaly information of the step by making a difference between the geomagnetic values of the step and the geomagnetic values of local standards.
14. The apparatus of claim 13,
the second construction unit divides each path according to a preset standard length, takes the end points of each line segment obtained by division as standard coordinate points, respectively obtains the coordinates of each standard coordinate point, determines two path acquisition points closest to the standard coordinate points according to the coordinates of the standard coordinate points and the coordinates of each path acquisition point, and determines the geomagnetic fingerprint of the standard coordinate points according to the geomagnetic fingerprints of the two path acquisition points.
15. The apparatus of claim 14,
the geomagnetic values include: an east geomagnetic value, a north geomagnetic value, and a sky geomagnetic value;
the geomagnetic anomaly information includes: east geomagnetic anomaly information, north geomagnetic anomaly information, and sky geomagnetic anomaly information.
16. A positioning device, comprising: a first positioning unit and a second positioning unit;
the first positioning unit is used for acquiring physical information of a user to be positioned in real time and sending the physical information to the second positioning unit;
the second positioning unit is used for positioning the user to be positioned according to the physical information of the user to be positioned and the geomagnetic fingerprint distribution map acquired by the device of any one of claims 11 to 15;
the first positioning unit takes the end point of each step which is walked by the user to be positioned as a point to be matched in the walking process of the user to be positioned, and respectively acquires the geomagnetic fingerprint and the coordinate offset information of each point to be matched, wherein the coordinate offset information is the coordinate offset of each point to be matched compared with the previous point to be matched;
when the second positioning unit needs to perform positioning each time, candidate standard coordinate points are screened out from the standard coordinate points according to coordinate offset information of M nearest points to be matched, and the position of the user to be positioned is determined according to the geomagnetic fingerprints of the M nearest points to be matched and the geomagnetic fingerprints of the candidate standard coordinate points, wherein M is a positive integer.
17. The apparatus of claim 16,
the second positioning unit comprises: a screening subunit and a positioning subunit;
the screening subunit is used for generating a navigation sequence when positioning is required each time, wherein the coordinate offset of each point to be matched in the M points to be matched compared with the previous point to be matched is sequentially recorded according to the sequence of time from first to last;
for each standard coordinate point, respectively taking the coordinate of the standard coordinate point as the coordinate of a point to be matched before a first point to be matched in the navigation sequence, and respectively calculating the coordinate of each point to be matched in the navigation sequence according to the offset of each coordinate to obtain a candidate navigation sequence corresponding to the standard coordinate point;
respectively determining the distance between each point to be matched in the candidate navigation sequence and the standard coordinate point closest to the point to be matched in the candidate navigation sequence aiming at each candidate navigation sequence, if the distance with the minimum value is greater than a preset threshold value, discarding the standard coordinate point corresponding to the candidate navigation sequence, and otherwise, taking the standard coordinate point corresponding to the candidate navigation sequence as the candidate standard coordinate point;
and the positioning subunit is used for determining the position of the user to be positioned according to the geomagnetic fingerprints of the latest M points to be matched and the geomagnetic fingerprints of the candidate standard coordinate points.
18. The apparatus of claim 17,
the geomagnetic fingerprint comprises: geomagnetic values and geomagnetic anomaly information;
the positioning subunit calculates, for each candidate standard coordinate point, a euclidean distance between a geomagnetic value of the candidate standard coordinate point and a geomagnetic value of each point to be matched in the M points to be matched, and adds the M euclidean distances to obtain a first evaluation value of the candidate standard coordinate point;
respectively calculating Euclidean distances between the geomagnetic abnormal information of the candidate standard coordinate points and the geomagnetic abnormal information of each point to be matched in the M points to be matched according to each candidate standard coordinate point, and adding the M Euclidean distances to obtain a second evaluation value of the candidate standard coordinate point;
sequencing the candidate standard coordinate points according to the sequence of the first evaluation value from small to large;
sequencing the candidate standard coordinate points according to the sequence of the second evaluation value from small to large;
for each candidate standard coordinate point, respectively adding the two sequencing positions of the candidate standard coordinate point;
and sequencing the candidate standard coordinate points according to the sequence from small to large of the sum of the two sequencing positions, and determining the position of the user to be positioned according to the sequenced candidate standard coordinate point at the first position.
19. The apparatus of claim 18,
and the positioning subunit takes the coordinate of the last point to be matched in the candidate navigation sequence corresponding to the sorted candidate standard coordinate point at the first position as the position coordinate of the user to be positioned.
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