CN107091639B - A kind of total trajectory length long based on adaptive average window determines method - Google Patents
A kind of total trajectory length long based on adaptive average window determines method Download PDFInfo
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- CN107091639B CN107091639B CN201710336031.8A CN201710336031A CN107091639B CN 107091639 B CN107091639 B CN 107091639B CN 201710336031 A CN201710336031 A CN 201710336031A CN 107091639 B CN107091639 B CN 107091639B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of total trajectory lengths long based on adaptive average window to determine method, comprising: S1: obtains the zero-speed status information of target unit；S2: the average window length of every section of stationary state is calculated at the beginning of corresponding with finish time according to every section of quiescent state information；S3: average value is obtained according to the track of the average window length of every section of stationary state, every section of stationary state；S4: Difference Calculation is carried out according to the average value of every section of stationary state track and obtains the length of every section of run trace；S5: the length of all run trace is summed to obtain run trace total length.The present invention has the advantage that its total trajectory length can be calculated accurately to the positioning track of various foot's strapdown inertial navigation systems output, it is versatile；Under the premise of not changing foot's strapdown inertial navigation system, the long choosing method module of adaptive average window based on zero-velocity curve stationary state is increased；Algorithm complexity is low, is easy to Project Realization.
Description
Technical field
The present invention relates to indoor positioning field, in particular to a kind of total trajectory length long based on adaptive average window determines
Method.
Background technique
With the rapid development of wireless communication technique and gradually popularizing for mobile intelligent terminal, location based service
(Location-based Service, LBS) has become the important component of intelligent society.In the case of emergency help
Except personnel positioning, LBS has obtained answering extensively in fields such as military and national defense, communications and transportation, modern logistics, the earth mappings
With positive more rich and varied, the huge innovative mobile location-based service direction of market potential is developed at present, such as based on position
Social activity, advertisement, mobile search lamp.These innovative location-based services need to obtain user in real time based on mobile Internet
The accurate geographic position information of the outer total space indoors.
Inertial navigation system is influenced the advantages that small due to its high-precision, independence, by the external world, is obtained in many positioning fields
Using.Such as in outdoor scene, inertial navigation system can assisted GNSS promote its positioning accuracy, and can make up for it GNSS
The shortcomings that there are signal blind zones.Indoors in positioning, microelectromechanical inertial measurement element may be mounted at the foot of people, waist, head
The positioning and navigation of people are realized in multiple positions such as portion.
An important output is total trajectory length in navigation system, but due to microelectromechanical inertial measurement element sample rate compared with
Height, the positioning track of reality output are the motion profile of foot.It traditionally, can be to every section of set time when calculating total trajectory length
Positioning result be averaging processing.But conventional method can bring two problems, and one, which is different average window length, will lead to difference
Total trajectory length；Second is that the long gait cycle intercepted every time of fixed window is different, it cannot be guaranteed that can to a complete gait into
Row average computation.
Summary of the invention
The present invention is directed at least solve one of above-mentioned technical problem.
For this purpose, it is an object of the invention to propose that a kind of total trajectory length long based on adaptive average window determines method,
Total trajectory length can accurately be calculated.
To achieve the goals above, embodiment of the invention discloses a kind of track lengths long based on adaptive average window
Spend the method for determination, comprising the following steps: S1: obtain the zero-speed status information of target unit, wherein the zero-speed status information packet
Include quiescent state information and movement state information；S2: according to every section of quiescent state information it is corresponding at the beginning of and finish time,
And then calculate the average window length of every section of stationary state；S3: according to the average window length of every section of stationary state, described
The track of every section of stationary state obtains the average value of every section of stationary state track；S4: according to every section of stationary state rail
The average value of mark carries out Difference Calculation and obtains the length of every section of run trace；S5: it sums to the length of all run trace
Obtain run trace total length.
Further, the zero-speed status information of the target unit is the measurement member by being arranged on the target unit
What part obtained.
Further, quiescent state information and movement state information are distinguished according to the value of zero-speed correction.
Further, the average value of every section of stationary state track is calculated according to the following formula:
Wherein, trajsmooth (k) is the average value of the corresponding track of k-th of stationary state, and winlen (k) represents kth
The average window length of section stationary state, trajkIt is the corresponding track of k-th of stationary state.
Further, the length of every section of run trace is calculated according to the following formula:
Wherein, trajlen (k) is the length of kth section in walking total length, trajsmoothxAnd trajsmoothyBelong to
The X and Y-component of trajsmooth.
The total trajectory length long based on adaptive average window according to an embodiment of the present invention determines method, prompt to various foots
The positioning track of inertial navigation system output can accurately calculate its total trajectory length, versatile；Do not changing foot
Under the premise of strapdown inertial navigation system, the long choosing method mould of adaptive average window based on zero-velocity curve stationary state is increased
Block；Algorithm complexity is low, is easy to Project Realization.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is that the total trajectory length long based on adaptive average window of the embodiment of the present invention determines the flow chart of method.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
Referring to following description and drawings, it will be clear that these and other aspects of the embodiment of the present invention.In these descriptions
In attached drawing, some particular implementations in the embodiment of the present invention are specifically disclosed, to indicate to implement implementation of the invention
Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, of the invention
Embodiment includes all changes, modification and the equivalent fallen within the scope of the spirit and intension of attached claims.
The present invention is described below in conjunction with attached drawing.
Fig. 1 is that the total trajectory length long based on adaptive average window of the embodiment of the present invention determines the flow chart of method.Such as
Shown in Fig. 1, the total trajectory length long based on adaptive average window according to an embodiment of the present invention determines method, including following step
It is rapid:
S1: the zero-speed status information of target unit is obtained.Wherein, zero-speed status information includes quiescent state information and movement
Status information.
In one embodiment of the invention, the zero-speed status information of target unit is by being arranged on target unit
What measuring cell obtained.Measuring cell can be microelectromechanical inertial measurement element, and it is more to be mounted on foot, waist, head of people etc.
The positioning and navigation of people are realized in a position.
S2: according to every section of quiescent state information it is corresponding at the beginning of and finish time, and then calculate every section of stationary state
Average window length.
In one embodiment of the invention, quiescent state information is distinguished according to the value of zero-speed correction and motion state is believed
Breath.
Specifically, zero-speed status information includes static and movement two states, is stationary state, ZUPT=0 when ZUPT=1
When be motion state.Extract the part of zero-speed status information ZUPT=1.The starting point of k-th of stationary state is judged as
stillk(start), the end point of k-th of stationary state is judged as stillk(end).By the starting point of kth section stationary state and
After end point extracts, the length of the average window of this section of stationary state is calculated:
Winlen (k)=stillk(end)-stillk(start)
Wherein, winlen (k) represents the average window length of kth section stationary state.
S3: every section of stationary state rail is obtained according to the track of the average window length of every section of stationary state, every section of stationary state
The average value of mark.
In one embodiment of the invention, the average value of every section of stationary state track is calculated according to the following formula:
Wherein, trajsmooth (k) is the average value of the corresponding track of k-th of stationary state, trajkIt is static k-th
The corresponding track of state.
S4: Difference Calculation is carried out according to the average value of every section of stationary state track and obtains the length of every section of run trace.
In one embodiment of the invention, the length of every section of run trace is calculated according to the following formula:
Wherein, trajlen (k) is the length of kth section in walking total length, trajsmoothxAnd trajsmoothyBelong to
The X and Y-component of trajsmooth.
S5: the length of all run trace is summed to obtain run trace total length.
Specifically, all trajlen are summed by following formula to obtain total trajectory length dis:
Dis=∑ trajlen (k)
Table 1 is to determine in an example using the total trajectory length long based on adaptive average window of the embodiment of the present invention
Processing result of the method to a period of time data.The long processing of average window is fixed to this section of real data respectively and based on zero-speed
Correct the long processing of adaptive average window of stationary state.Wherein fix the long processing of window have chosen 1 sampled point, 123 sampled points,
246 sampled points, 369 sampled points and 512 sampled point this five kinds of typical cases.Side proposed by the present invention as seen from Table 1
Randomness when method can be to avoid calculating total trajectory length.
Table 1
In addition, the total trajectory length long based on adaptive average window of the embodiment of the present invention determine other compositions of method with
And effect be all for a person skilled in the art it is known, in order to reduce redundancy, do not repeat them here.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is by claim and its equivalent limits.
Claims (3)
1. a kind of total trajectory length long based on adaptive average window determines method, which comprises the following steps:
S1: the zero-speed status information of target unit is obtained, wherein the zero-speed status information includes quiescent state information and movement
Status information；
S2: according to every section of quiescent state information it is corresponding at the beginning of and finish time, and then calculate every section of stationary state
Average window length；
S3: according to the track of the average window length of every section of stationary state, every section of stationary state obtain described every section it is quiet
The only average value of state trajectory；
S4: Difference Calculation is carried out according to the average value of every section of stationary state track and obtains the length of every section of run trace；
S5: the length of all run trace is summed to obtain run trace total length；
Wherein, the average value of every section of stationary state track is calculated according to the following formula:
Trajsmooth (k) is the average value of the corresponding track of k-th of stationary state, and winlen (k) represents kth section stationary state
Average window length, trajkIt is the corresponding track of k-th of stationary state；
The length of every section of run trace is calculated according to the following formula:
Trajlen (k) is the length of kth section in walking total length, trajsmoothxAnd trajsmoothyBelong to trajsmooth
X and Y-component.
2. the total trajectory length long based on adaptive average window according to claim 1 determines method, which is characterized in that institute
The zero-speed status information for stating target unit is obtained by the measuring cell being arranged on the target unit.
3. the total trajectory length long based on adaptive average window according to claim 2 determines method, which is characterized in that root
Quiescent state information and movement state information are distinguished according to the value of zero-speed correction.
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| CN101303406A (en) * | 2008-07-09 | 2008-11-12 | 北京交通大学 | Method for abstracting GPS track |
| CN104075709A (en) * | 2013-03-29 | 2014-10-01 | 百度在线网络技术（北京）有限公司 | Moving track determining method and device based on sparse track point data |
| CN104864871A (en) * | 2015-05-27 | 2015-08-26 | 重庆大学 | Indoor positioning and path leading method based on mobile terminal inertial navigation |
| CN105424026A (en) * | 2015-11-04 | 2016-03-23 | 中国人民解放军国防科学技术大学 | Indoor navigation and localization method and system based on point cloud tracks |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002154612A (en) * | 2000-11-15 | 2002-05-28 | Internatl Business Mach Corp <Ibm> | Path searching system and path searching method |
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2017
- 2017-05-12 CN CN201710336031.8A patent/CN107091639B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101303406A (en) * | 2008-07-09 | 2008-11-12 | 北京交通大学 | Method for abstracting GPS track |
| CN104075709A (en) * | 2013-03-29 | 2014-10-01 | 百度在线网络技术（北京）有限公司 | Moving track determining method and device based on sparse track point data |
| CN104864871A (en) * | 2015-05-27 | 2015-08-26 | 重庆大学 | Indoor positioning and path leading method based on mobile terminal inertial navigation |
| CN105424026A (en) * | 2015-11-04 | 2016-03-23 | 中国人民解放军国防科学技术大学 | Indoor navigation and localization method and system based on point cloud tracks |
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| 基于轨迹分段表示算法的非刚体运动重建技术研究;陈竞博;《中国优秀硕士学位论文全文数据库信息科技辑》;20151015(第10期);全文 * |
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