CN106895852A - A kind of positioning precision appraisal procedure and device - Google Patents
A kind of positioning precision appraisal procedure and device Download PDFInfo
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- CN106895852A CN106895852A CN201710078366.4A CN201710078366A CN106895852A CN 106895852 A CN106895852 A CN 106895852A CN 201710078366 A CN201710078366 A CN 201710078366A CN 106895852 A CN106895852 A CN 106895852A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/063—Operations research, analysis or management
- G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
Abstract
The invention discloses a kind of positioning precision appraisal procedure and device.Wherein, the method includes：Coordinate based on step-length and predeterminated position obtains the coordinate of estimate；The positioning result of coordinate pair localization method or alignment system based on the estimate is estimated.The present invention obtains the coordinate of estimate using the interpolation method based on step-length, the predeterminated position for being used can be obtained by the terrestrial reference of sensing equipment automatic identification naturally occurring, without passing through manually to dispose substantial amounts of mark point as prior art, it is achieved thereby that technique effect time saving and energy saving, without artificially disposing, improving Evaluation accuracy.The present invention is considered in pedestrian's walking process, without the situation for stopping and having stop, the practical situation (at the uniform velocity with non-at the uniform velocity) that can be walked according to pedestrian, the coordinate of estimate is obtained using the method based on step-length interpolation, so as to improve applicability of the invention.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of positioning precision appraisal procedure and device.
Background technology
Indoor positioning has caused the extensive concern of academia and industrial quarters, existing many indoor orientation methods and system
It is suggested and disposes.Positioning precision is to evaluate the core index of alignment system performance, and positioning precision is assessed for indoor positioning side
The trade-off decision of method and system has vital effect.At present, the method for precision measure or the too many workload of needs, or
High-precision accuracy evaluation cannot be provided.
Precision measure is a process for calculating difference between position location and actual position.Wherein, actual position is true
Exist, and position location is obtained by localization method or alignment system.However, in most cases, actual position is
It is difficult to even can not be obtainable.Therefore, the estimate for actual position how being obtained as accurately as possible is accuracy evaluation
It is crucial.The method of the existing estimate for obtaining actual position mainly has three classes：First, using Other Instruments and equipment, supervise in real time
Survey, estimate pedestrian's actual position, such as：Method based on high-precision reference system and the method based on robot, but such side
Method is typically disposed costly, time-consuming laborious and higher to stability of a system requirement；2nd, handmarking, calculate true position offline
Put, such as：Method based on mark point, but there is manual intervention and need to dispose substantial amounts of mark point, and one in such method
As need the professional test personnel to carry out data acquisition；3rd, founding mathematical models estimate actual position, such as：Based on cross track
Method, but the hypothesis of the method is often invalid in actual scene, therefore Evaluation accuracy is relatively low.It is several in actual environment
Will not use.
In sum, it is necessary to a kind of positioning precision appraisal procedure come solve time and effort consuming, exist human intervention, need it is advance
Deployment and the low problem of Evaluation accuracy.
The content of the invention
The present invention by providing a kind of positioning precision appraisal procedure and device, solve in the prior art time and effort consuming, deposit
In human intervention, need deployment and the low technical problem of Evaluation accuracy in advance, realize it is time saving and energy saving, without human intervention and pre-
First dispose, improve the technique effect of Evaluation accuracy.
The invention provides a kind of positioning precision appraisal procedure, at least include：
Coordinate based on step-length and predeterminated position obtains the coordinate of estimate；
The positioning result of coordinate pair localization method or alignment system based on the estimate is estimated.
Further, the coordinate based on step-length and predeterminated position obtains the coordinate of estimate, at least includes：
By formulaObtain the coordinate of the estimate；
Wherein, x "iIt is the abscissa of the estimate, y "iIt is the ordinate of the estimate, s (t) is the step of t
It is long, x 'kIt is the abscissa of predeterminated position k, y 'kIt is the ordinate of predeterminated position k, x 'k+1It is the abscissa of predeterminated position k+1,
y′k+1It is the ordinate of predeterminated position k+1.
Further, also at least include：
By formulaIt is calculated the step-length s；
Wherein, ξ is constant, AccmaxIt is the peak acceleration within a walking time, AccminIt is in a walking
Interior minimum acceleration.
Further, the positioning result of the coordinate pair localization method or alignment system based on the estimate is commented
Estimate, specifically include：
By formulaIt is calculated the localization method or alignment system
Position error
Wherein,It is the abscissa of the estimate, For
The ordinate of the estimate, It is by the localization method or fixed
The abscissa that position system is obtained,It is the ordinate obtained by the localization method or alignment system.
Further, before the coordinate based on step-length and predeterminated position obtains the coordinate of estimate, institute is also obtained
Predeterminated position is stated, is specifically included：
Motion state is identified according to sensing equipment；
Based on the motion state for recognizing according to localization method or the positioning result combination indoor map of alignment system, infer
Go out corresponding terrestrial reference；
Using the terrestrial reference as the predeterminated position.
The positioning precision apparatus for evaluating that the present invention is provided, at least includes：
Computing module, the coordinate of estimate is obtained for the coordinate based on step-length and predeterminated position；
First evaluation module, enters for coordinate pair localization method or the positioning result of alignment system based on the estimate
Row assessment.
Further, the computing module, specifically for by formula
Obtain the coordinate of the estimate；Wherein, x "iIt is the abscissa of the estimate, y "iIt is the ordinate of the estimate, s (t)
It is the step-length of t, x 'kIt is the abscissa of predeterminated position k, y 'kIt is the ordinate of predeterminated position k, x 'k+1It is predeterminated position k+1
Abscissa, y 'k+1It is the ordinate of predeterminated position k+1.
Further, also at least include：
Computing module, for by formulaIt is calculated the step-length s；Wherein, ξ is normal
Number, AccmaxIt is the peak acceleration within a walking time, AccminIt is the minimum acceleration within a walking time.
Further, first evaluation module, specifically for by formula
It is calculated the position error of the localization method or alignment systemWherein,It is the abscissa of the estimate, It is the ordinate of the estimate, It is the abscissa obtained by the localization method or alignment system,It is by indulging that the localization method or alignment system are obtained
Coordinate.
Further, also at least include：
Position acquisition module, for obtaining the predeterminated position；
The position acquisition module, including：
Recognition unit, for being identified to motion state according to sensing equipment；
Data processing unit, for based on the motion state for recognizing according to localization method or the positioning result of alignment system
With reference to indoor map, corresponding terrestrial reference is inferred to；
Indexing unit, for using the terrestrial reference as the predeterminated position.
One or more technical schemes provided in the present invention, at least have the following technical effect that or advantage：
First the coordinate based on step-length and predeterminated position obtains the coordinate of estimate, then the coordinate pair positioning side based on estimate
The positioning result of method or alignment system is estimated.The present invention obtains the seat of estimate using the interpolation method based on step-length
Mark, the predeterminated position for being used can be obtained by the terrestrial reference of sensing equipment automatic identification naturally occurring, without as existing skill
Art like that by manually disposing substantial amounts of mark point, it is achieved thereby that it is time saving and energy saving, without artificially disposing, improving Evaluation accuracy
Technique effect.The present invention is considered in pedestrian's walking process, without the situation for stopping and having stop, the reality that can be walked according to pedestrian
Border situation (at the uniform velocity with non-at the uniform velocity), the coordinate of estimate is obtained using the method based on step-length interpolation, so as to improve this hair
Bright applicability.
Brief description of the drawings
Fig. 1 is the flow chart of positioning precision appraisal procedure provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of positioning precision appraisal procedure provided in an embodiment of the present invention；
Fig. 3 is the module map of positioning precision apparatus for evaluating provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is solved and takes expense in the prior art by providing a kind of positioning precision appraisal procedure and device
Power, there is human intervention, need deployment and the low technical problem of Evaluation accuracy in advance, realize it is time saving and energy saving, without artificially doing
Pre- and deployment in advance, the technique effect for improving Evaluation accuracy.
Technical scheme in the embodiment of the present invention is in order to solve the above technical problems, general thought is as follows：
First the coordinate based on step-length and predeterminated position obtains the coordinate of estimate, then the coordinate pair positioning side based on estimate
The positioning result of method or alignment system is estimated.The embodiment of the present invention obtains estimate using the interpolation method based on step-length
Coordinate, the predeterminated position for being used can be obtained by the terrestrial reference of sensing equipment automatic identification naturally occurring, without as existing
There is technology to pass through manually to dispose substantial amounts of mark point like that, it is achieved thereby that time saving and energy saving, smart without artificially disposing, improving assessment
The technique effect of degree.The embodiment of the present invention is considered in pedestrian's walking process, without the situation for stopping and having stop, can be according to row
The practical situation (at the uniform velocity with non-at the uniform velocity) of people's walking, the coordinate of estimate is obtained using the method based on step-length interpolation, so that
Improve the applicability of the embodiment of the present invention.
In order to more fully understand above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
Technical scheme is stated to be described in detail.
Referring to Fig. 1 and Fig. 2, positioning precision appraisal procedure provided in an embodiment of the present invention at least includes：
Step S110：Coordinate based on step-length and predeterminated position obtains the coordinate of estimate；
In the present embodiment, estimate refers to the estimate of actual position.
This step is illustrated：
By formulaObtain the coordinate of estimate；
Wherein, x "iIt is the abscissa of estimate, y "iIt is the ordinate of estimate, s (t) is the step-length of t, x 'kFor pre-
If the abscissa of position k, y 'kIt is the ordinate of predeterminated position k, x 'k+1It is the abscissa of predeterminated position k+1, y 'k+1To preset position
Put the ordinate of k+1.
Specifically, by formulaIt is calculated step-length s；
Wherein, ξ is constant, AccmaxIt is the peak acceleration within a walking time, AccminIt is in a walking
Interior minimum acceleration.
In the present embodiment, before step S110, predeterminated position is also obtained, is specifically included：
Motion state is identified according to sensing equipment；
Based on the motion state for recognizing according to localization method or the positioning result combination indoor map of alignment system, infer
Go out corresponding terrestrial reference；
Using terrestrial reference as predeterminated position.
Specifically, the pattern of terrestrial reference (predeterminated position) available motion state change is identified, and then combines pedestrian's boat position
The result of calculation of projectional technique (Pedestrian Dead-Reckoning, PDR) is inferred to user when and where by which kind of
Terrestrial reference.Wherein, the embodiment of the present invention can use least square method supporting vector machine (Least Square-support Vector
Machine, LS-SVM) recognize corresponding motion state.LS-SVM is represented by the optimization problem of following form：
Constraints is：
yj[wTφ(xj)+b]≥1-εj, j=1 ..., N
Wherein, J is loss function, and w is weight vectors, and r is the weight of regular terms, and ε is slack variable, and φ () is mapping
Function, b is deviation factors, yjIt is j-th generic of input sample.By the solution of optimization problem, LS- can be obtained
SVM classifier：
Wherein, K is positive definite matrix, xjIt is j-th input sample, y is the motion state of prediction.Used in the present embodiment and arrived
Feature including vertical direction acceleration variance, the average value and maximum of horizontal direction acceleration, the average value of acceleration,
The changing value and derivative of air pressure.
Wherein, predeterminated position is recognized by PDR, is specifically included：
Stair are identified based on barometrical reading, so as to obtain the floor residing for user and stair position；
Elevator is identified based on accelerometer, specially：
There is special changing pattern, including static (wait elevator) → walking during the use of elevator in accelerometer
(walking enters elevator) → elevator up-down → walking (elevator is walked out in walking), when the pattern occurs, just it can be inferred that pedestrian
When and where elevator is being used, while obtaining corresponding position.
Direction reading based on gyroscope is identified to turning, so as to obtain the corner location residing for user.
In the present embodiment, the positional information of the terrestrial reference such as stair, elevator can be provided by indoor map.
Step S120：The positioning result of coordinate pair localization method or alignment system based on estimate is estimated.
This step is illustrated：
By formulaIt is calculated the positioning of localization method or alignment system
Error
Wherein,Be the abscissa of estimate, including the interpolation of predeterminated position and predeterminated position position, i.e., It is the ordinate of estimate, including predeterminated position and predeterminated position
Interpolation position, i.e., It is by localization method or alignment system
The abscissa for obtaining；It is the ordinate obtained by localization method or alignment system.
Specifically, when the coordinate that localization method or alignment system estimation are obtainedCorresponding activity recognition is in default position
When putting (such as terrestrial reference), the coordinate of estimate chooses the coordinate of corresponding terrestrial reference, and otherwise, the coordinate of estimate chooses interleaving for terrestrial reference
The position of value.
Step S130：By formulaTo position errorCarry out accuracy evaluation；
Wherein, N is the quantity of anchor point, eiIt is localization method or the default position error of alignment system,And xiIt is known real abscissa, yiIt is known real ordinate.
Referring to Fig. 3, positioning precision apparatus for evaluating provided in an embodiment of the present invention at least includes：
Computing module 100, the coordinate of estimate is obtained for the coordinate based on step-length and predeterminated position；
In the present embodiment, computing module 100, specifically for by formula
Obtain the coordinate of estimate；Wherein, x "iIt is the abscissa of estimate, y "iIt is the ordinate of estimate, s (t) is the step of t
It is long, x 'kIt is the abscissa of predeterminated position k, y 'kIt is the ordinate of predeterminated position k, x 'k+1It is the abscissa of predeterminated position k+1,
y′k+1It is the ordinate of predeterminated position k+1.
In the present embodiment, estimate refers to the estimate of actual position.
For material calculation, also at least include：
Computing module, for by formulaIt is calculated step-length s；Wherein, ξ is constant,
AccmaxIt is the peak acceleration within a walking time, AccminIt is the minimum acceleration within a walking time.
Structure to the embodiment of the present invention is illustrated, and is also at least included：
Position acquisition module, for obtaining predeterminated position；
Specifically, position acquisition module, including：
Recognition unit, for being identified to motion state according to sensing equipment；
Data processing unit, for based on the motion state for recognizing according to localization method or the positioning result of alignment system
With reference to indoor map, corresponding terrestrial reference is inferred to；
Indexing unit, for using terrestrial reference as predeterminated position.
First evaluation module 200, enters for coordinate pair localization method or the positioning result of alignment system based on estimate
Row assessment.
In the present embodiment, the first evaluation module 200, specifically for by formula
It is calculated the position error of localization method or alignment systemWherein,Be the abscissa of estimate, including predeterminated position and
The position of the interpolation of predeterminated position, i.e., It is the vertical seat of estimate
Mark, including the interpolation of predeterminated position and predeterminated position position, i.e., It is the abscissa obtained by localization method or alignment system；It is the ordinate obtained by localization method or alignment system.
Specifically, when the coordinate that localization method or alignment system estimation are obtainedCorresponding activity recognition is in default position
When putting (such as terrestrial reference), the coordinate of estimate chooses the coordinate of corresponding terrestrial reference, and otherwise, the coordinate of estimate chooses interleaving for terrestrial reference
The position of value.
Second evaluation module 300, for by formulaTo position errorCarry out precision
Assessment；Wherein, N is the quantity of anchor point, eiIt is localization method or the default position error of alignment system,And xiIt is known real abscissa, yiIt is known real ordinate.
【Technique effect】
First the coordinate based on step-length and predeterminated position obtains the coordinate of estimate, then the coordinate pair positioning side based on estimate
The positioning result of method or alignment system is estimated.The embodiment of the present invention obtains estimate using the interpolation method based on step-length
Coordinate, the predeterminated position for being used can be obtained by the terrestrial reference of sensing equipment automatic identification naturally occurring, without as existing
There is technology to pass through manually to dispose substantial amounts of mark point like that, it is achieved thereby that time saving and energy saving, smart without artificially disposing, improving assessment
The technique effect of degree.The embodiment of the present invention is considered in pedestrian's walking process, without the situation for stopping and having stop, can be according to row
The practical situation (at the uniform velocity with non-at the uniform velocity) of people's walking, the coordinate of estimate is obtained using the method based on step-length interpolation, so that
Improve the applicability of the embodiment of the present invention.
The embodiment of the present invention solve in the prior art time and effort consuming, exist human intervention, need in advance deployment and assess
The low technical problem of precision, can realize accuracy evaluation during the indoor positioning based on smart mobile phone inertial sensor, and
It is with low cost, also with very strong practicality.The embodiment of the present invention can be widely applied to smart mobile phone etc. with various sensings
In the intelligent terminal Mobile solution of device, for real-time positioning system in Evaluation Room and the precision of method, support accurate indoor fixed
The numerous areas location-based service application such as position and mobile social activity, health care.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.And, the present invention can be used and wherein include the computer of computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) is produced
The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that every first-class during flow chart and/or block diagram can be realized by computer program instructions
The combination of flow and/or square frame in journey and/or square frame and flow chart and/or block diagram.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of being specified in present one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that instruction of the storage in the computer-readable memory is produced and include finger
Make the manufacture of device, the command device realize in one flow of flow chart or multiple one square frame of flow and/or block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented treatment, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without deviating from essence of the invention to the present invention
God and scope.So, if these modifications of the invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (10)
1. a kind of positioning precision appraisal procedure, it is characterised in that at least include：
Coordinate based on step-length and predeterminated position obtains the coordinate of estimate；
The positioning result of coordinate pair localization method or alignment system based on the estimate is estimated.
2. the method for claim 1, it is characterised in that the coordinate based on step-length and predeterminated position obtains estimate
Coordinate, at least include：
By formulaObtain the coordinate of the estimate；
Wherein, x "iIt is the abscissa of the estimate, y "iIt is the ordinate of the estimate, s (t) is the step-length of t, x 'k
It is the abscissa of predeterminated position k, y 'kIt is the ordinate of predeterminated position k, x 'k+1It is the abscissa of predeterminated position k+1, y 'k+1For pre-
If the ordinate of position k+1.
3. method as claimed in claim 2, it is characterised in that also at least include：
By formulaIt is calculated the step-length s；
Wherein, ξ is constant, AccmaxIt is the peak acceleration within a walking time, AccminIt is within a walking time
Minimum acceleration.
4. method as claimed in claim 2, it is characterised in that the coordinate pair localization method or fixed based on the estimate
The positioning result of position system is estimated, and specifically includes：
By formulaIt is calculated the positioning of the localization method or alignment system
Error
Wherein,It is the abscissa of the estimate, Estimate for described
The ordinate of evaluation, It is by the localization method or alignment system
The abscissa for obtaining,It is the ordinate obtained by the localization method or alignment system.
5. method as claimed in claim 4, it is characterised in that estimated in the coordinate based on step-length and predeterminated position
Before the coordinate of value, the predeterminated position is also obtained, specifically included：
Motion state is identified according to sensing equipment；
Based on the motion state for recognizing according to localization method or the positioning result combination indoor map of alignment system, it is right to be inferred to
The terrestrial reference answered；
Using the terrestrial reference as the predeterminated position.
6. a kind of positioning precision apparatus for evaluating, it is characterised in that at least include：
Computing module, the coordinate of estimate is obtained for the coordinate based on step-length and predeterminated position；
First evaluation module, is commented for coordinate pair localization method or the positioning result of alignment system based on the estimate
Estimate.
7. device as claimed in claim 6, it is characterised in that
The computing module, specifically for by formulaObtain the estimation
The coordinate of value；Wherein, x "iIt is the abscissa of the estimate, y "iIt is the ordinate of the estimate, s (t) is the step of t
It is long, x 'kIt is the abscissa of predeterminated position k, y 'kIt is the ordinate of predeterminated position k, x 'k+1It is the abscissa of predeterminated position k+1,
y′k+1It is the ordinate of predeterminated position k+1.
8. device as claimed in claim 7, it is characterised in that also at least include：
Computing module, for by formulaIt is calculated the step-length s；Wherein, ξ is constant,
AccmaxIt is the peak acceleration within a walking time, AccminIt is the minimum acceleration within a walking time.
9. device as claimed in claim 7, it is characterised in that
First evaluation module, specifically for by formulaIt is calculated described
The position error of localization method or alignment systemWherein,It is the abscissa of the estimate, It is the ordinate of the estimate, It is the abscissa obtained by the localization method or alignment system,For
The ordinate obtained by the localization method or alignment system.
10. device as claimed in claim 9, it is characterised in that also at least include：
Position acquisition module, for obtaining the predeterminated position；
The position acquisition module, including：
Recognition unit, for being identified to motion state according to sensing equipment；
Data processing unit, for being combined according to the positioning result of localization method or alignment system based on the motion state for recognizing
Indoor map, is inferred to corresponding terrestrial reference；
Indexing unit, for using the terrestrial reference as the predeterminated position.
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| CN110119437A (en) * | 2019-04-03 | 2019-08-13 | 中国人民解放军战略支援部队信息工程大学 | Network entity terrestrial reference appraisal procedure and device with the error upper limit |
| CN110119437B (en) * | 2019-04-03 | 2021-04-23 | 中国人民解放军战略支援部队信息工程大学 | Network entity landmark evaluation method and device with error upper limit |
| CN112461250A (en) * | 2020-11-16 | 2021-03-09 | 北京百度网讯科技有限公司 | Vehicle dead reckoning service evaluation method and device, simulation equipment and medium |
| CN112857396A (en) * | 2020-12-31 | 2021-05-28 | 南斗六星系统集成有限公司 | Terminal dynamic positioning precision verification method and system |
| CN112857396B (en) * | 2020-12-31 | 2023-01-03 | 南斗六星系统集成有限公司 | Method and system for calculating dynamic positioning accuracy of terminal |
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