CN106949891A - A kind of new indoor locating system and the indoor bi-directional secondary correction localization method based on gyroscope and video analysis - Google Patents
A kind of new indoor locating system and the indoor bi-directional secondary correction localization method based on gyroscope and video analysis Download PDFInfo
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- CN106949891A CN106949891A CN201710116677.5A CN201710116677A CN106949891A CN 106949891 A CN106949891 A CN 106949891A CN 201710116677 A CN201710116677 A CN 201710116677A CN 106949891 A CN106949891 A CN 106949891A
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- Prior art keywords
- camera
- background server
- room
- gyroscope
- user
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention discloses a kind of new indoor locating system, including gyroscope, positioning label model, camera and background server, the signal output part of the positioning label model and the signal input part wireless connection of camera, the signal output part of the camera and the signal input part wireless connection of background server, the signal output part of the gyroscope and the signal input part of background server are connected.The present invention is positioned by positioning label model, record the substantially location information obtained by the picture and time and gyroscope that user walks about by people in doorway or room, then two-dimensional picture is contrasted with threedimensional model, the position of active user indoors is extrapolated, the problem of indoor position accuracy is poor, orientation range is small, anti-interference energy is weak is solved.
Description
Technical field
The invention belongs to indoor positioning technologies field, more specifically, more particularly to a kind of new indoor locating system.
Meanwhile, correct localization method the invention further relates to a kind of indoor bi-directional secondary based on gyroscope and video analysis.
Background technology
At present, indoor occupant locating and tracking system is fixed including positioning label, alignment sensor, full factory RFID positioning, WIFI
Position, GPS location, the network switch and engine of positioning module.The label information of alignment sensor collection positioning unit and by label
Information is sent to engine of positioning module by the network switch.
These location technologies exist common disadvantage be：
(1) positioning precision is poor.Such as positioned by WIFI, its precision typically can only achieve within 3 meters.Gps signal is in room
Interior no signal.
(2) it is easily disturbed.Due to the relatively narrow and small of indoor environment and closing, wireless signal can not be realized in many cases
Direct transmission in sighting distance, wall, baffle plate, floor are very big to the propagation effect of wireless channel, the noise of other electric equipments
The propagation of wireless signal can be influenceed, here it is so-called non-market value.Meanwhile, indoor sound or electric equipment are made an uproar
Sound, can be interfered to wireless signal, and then influence the precision of positioning.
The content of the invention
The invention aims to the easy quilt such as solve that indoor positioning precision is low, deployment conditions are complicated in the prior art
Interference problem, and a kind of new indoor locating system of proposition and the indoor bi-directional secondary based on gyroscope and video analysis
Correct localization method.
To achieve the above object, the present invention provides following technical scheme：
A kind of new indoor locating system, including gyroscope, positioning label model, camera and background server, institute
State the signal output part of positioning label model and the signal input part wireless connection of camera, the signal output part of the camera
With the signal input part wireless connection of background server, the signal output part of the gyroscope and the signal of background server are inputted
End connection.
It is preferred that, the inside of the camera is provided with wireless communication module.
It is preferred that, the background server is smart mobile phone or panel computer or computer.
The present invention also provides a kind of indoor bi-directional secondary correction localization method based on gyroscope and video analysis, including such as
Lower step：
S1, the porch in room, placement positioning label model, when user is by room, camera can record use
The positioning label screen photographed is delivered to background server by picture and time of the family by doorway, camera；
S2, background server calculate user distance according to the depth of field and tag size obtained by shooting picture, position
The air line distance and angle of label, and then extrapolate relative position of the user for the room, and current video module height
Spend h；
S3, user enter behind room, by gyroscope, calculate the direction of travel and distance of user, extrapolate user institute
Relative position P1 in room；
S4, when personnel walk in room, camera catches current video pictures, and is returned to background server；
S5, background server contain the basic framework threedimensional model of current room, such as beam, post, door, window, and with
Current is 1:1 ratio；
S6, background server receive camera transmission two-dimensional picture after, with reference to obtained by current gyro substantially
Location information C1, is contrasted by two-dimensional picture with threedimensional model, by current picture and threedimensional model, extrapolates current use
The position of family in the three-dimensional model, and then the position P2 (P2=L1 ∩ C1) of the personnel in a room；
S7, indoors placement positioning label, positioning label are made up of the ball of fixed dimension, when camera photographs room
During interior positioning label, personnel and the relative distance L2 of label can be calculated according to the ball tag size recognized；
S8, secondary correction carried out to indoor occupant positioning according to L2 value, it is P (P=L1 to draw current persons' physical location
∩C1∩L2)。
The technique effect and advantage of the present invention：A kind of new indoor locating system that the present invention is provided and based on gyro
The indoor bi-directional secondary correction localization method of instrument and video analysis, is positioned by positioning label model, records user through moving into one's husband's household upon marriage
Mouthful or room in substantially location information obtained by the picture walked about of people and time and gyroscope, then by two-dimensional picture with
Threedimensional model is contrasted, and extrapolates the position of active user indoors, solve that indoor position accuracy is poor, orientation range is small,
It is anti-interference can it is weak the problem of.
Brief description of the drawings
Fig. 1 is indoor locating system Organization Chart of the invention；
Fig. 2 is overall procedure schematic diagram of the invention；
Fig. 3 is push schematic flow sheet of the invention；
Fig. 4 is push result figure of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Herein
Described specific embodiment only to explain the present invention, is not intended to limit the present invention.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belongs to this hair
The scope of bright protection.
As shown in figure 1, a kind of new indoor locating system, including gyroscope, positioning label model, camera and backstage
Service end, the inside of the camera is provided with wireless communication module, and the background server is smart mobile phone or panel computer
Or computer, the signal output part of the positioning label model and the signal input part wireless connection of camera, the shooting
The signal output part of head and the signal input part wireless connection of background server, signal output part and the backstage of the gyroscope take
The signal input part connection at business end.
As in Figure 2-4, the present invention also provides a kind of indoor bi-directional secondary correction based on gyroscope and video analysis and determined
Position method, comprises the following steps：
S1, according to current room 1：1 ratio sets up corresponding three-dimensional model；Porch in room, placement positioning label mould
Block, when user is by room, camera can record picture and time of the user by doorway, and camera is by determining for photographing
Position label screen, is delivered to background server；
S2, background server calculate user distance according to the depth of field and tag size obtained by shooting picture, position
The air line distance and angle of label, and then extrapolate relative position of the user for the room, and current video module height
Spend h；
S3, user enter behind room, by gyroscope, calculate the direction of travel and distance of user, extrapolate user institute
Relative position P1 in room；
S4, when personnel walk in room, camera catches current video pictures, and is returned to background server；
S5, background server contain the basic framework threedimensional model of current room, such as beam, post, door, window, and with
Current is 1:1 ratio；
S6, background server receive camera transmission two-dimensional picture after, with reference to obtained by current gyro substantially
Location information C1, is contrasted by two-dimensional picture with threedimensional model, by current picture and threedimensional model, extrapolates current use
The position of family in the three-dimensional model, and then the position P2 (P2=L1 ∩ C1) of the personnel in a room；
S7, indoors placement positioning label, positioning label are made up of the ball of fixed dimension, when camera photographs room
During interior positioning label, personnel and the relative distance L2 of label can be calculated according to the ball tag size recognized；
S8, secondary correction carried out to indoor occupant positioning according to L2 value, it is P (P=L1 to draw current persons' physical location
∩C1∩L2)。
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
Although the present invention is described in detail with reference to the foregoing embodiments, for a person skilled in the art, it still may be used
To be modified to the technical scheme described in foregoing embodiments, or to which part technical characteristic progress equivalent,
Within the spirit and principles of the invention, any modifications, equivalent substitutions and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (4)
1. a kind of new indoor locating system, including gyroscope, positioning label model, camera and background server, it is special
Levy and be：The signal output part of the positioning label model and the signal input part wireless connection of camera, the camera
The signal input part wireless connection of signal output part and background server, the signal output part and background server of the gyroscope
Signal input part connection.
2. a kind of new indoor locating system according to claim 1, it is characterised in that：The inside of the camera is set
There is wireless communication module.
3. a kind of new indoor locating system according to claim 1, it is characterised in that：The background server is intelligence
Can mobile phone or panel computer or computer.
4. the correction localization method of the indoor bi-directional secondary based on gyroscope and video analysis described in a kind of claim 1, it is special
Levy and be, comprise the following steps：
S1, the porch in room, placement positioning label model, when user is by room, camera can record user's warp
Picture and the time on doorway are spent, the positioning label screen photographed is delivered to background server by camera；
S2, background server calculate user distance label according to the depth of field and tag size obtained by shooting picture, position
Air line distance and angle, and then extrapolate relative position of the user for the room, and current video module height h；
S3, user enter behind room, by gyroscope, calculate the direction of travel and distance of user, extrapolate room where user
Between relative position P1；
S4, when personnel walk in room, camera catches current video pictures, and is returned to background server；
S5, background server contain the basic framework threedimensional model of current room, such as beam, post, door, window, and with it is current
For 1:1 ratio；
S6, background server are received after the two-dimensional picture of camera transmission, with reference to the substantially positioning obtained by current gyro
Information C1, is contrasted by two-dimensional picture with threedimensional model, by current picture and threedimensional model, is extrapolated active user and is existed
Position in threedimensional model, and then the position P2 (P2=L1 ∩ C1) of the personnel in a room；
S7, indoors placement positioning label, positioning label are made up of the ball of fixed dimension, when camera is photographed in room
When positioning label, personnel and the relative distance L2 of label can be calculated according to the ball tag size recognized；
S8, secondary correction carried out to indoor occupant positioning according to L2 value, it is P (P=L1 ∩ C1 to draw current persons' physical location
∩L2)。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116677.5A CN106949891A (en) | 2017-03-01 | 2017-03-01 | A kind of new indoor locating system and the indoor bi-directional secondary correction localization method based on gyroscope and video analysis |
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| CN201710116677.5A CN106949891A (en) | 2017-03-01 | 2017-03-01 | A kind of new indoor locating system and the indoor bi-directional secondary correction localization method based on gyroscope and video analysis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107864510A (en) * | 2017-12-26 | 2018-03-30 | 厦门大学 | A kind of indoor orientation method, terminal device and storage medium suitable for nuclear island of nuclear power station |
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Patent Citations (6)
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| CN101384402A (en) * | 2006-02-17 | 2009-03-11 | 丰田自动车株式会社 | Mobile robot |
| CN103487054A (en) * | 2013-10-08 | 2014-01-01 | 天津国信浩天三维科技有限公司 | Novel hand-held indoor positioner, positioning system thereof, and positioning method of positioning system |
| CN104833360A (en) * | 2014-02-08 | 2015-08-12 | 无锡维森智能传感技术有限公司 | Method for transforming two-dimensional coordinates into three-dimensional coordinates |
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Application publication date: 20170714 |