CN107270896A - A kind of pedestrian's positioning and trace tracking method and system - Google Patents
A kind of pedestrian's positioning and trace tracking method and system Download PDFInfo
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- CN107270896A CN107270896A CN201710472171.8A CN201710472171A CN107270896A CN 107270896 A CN107270896 A CN 107270896A CN 201710472171 A CN201710472171 A CN 201710472171A CN 107270896 A CN107270896 A CN 107270896A
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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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
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Abstract
The invention discloses a kind of pedestrian positioning and trace tracking method and system, the implementation of wherein method is：Receive acceleration information, angular velocity information and the magnetometer information of pedestrian；Acceleration information and angular velocity information are filtered and Threshold segmentation, obtain speed state information, attitude information is obtained using angular velocity information when speed is non-zero, speed obtains attitude information when being 0 using acceleration information amendment angular velocity information；Oval correction is carried out to magnetometer, pour angle compensation is carried out to magnetometer using attitude information, magnetic force course angle is obtained；By the course angle fusion in magnetic force course angle and attitude information, obtain merging course angle, with reference to attitude information and fusion course angle, velocity information can be obtained to integrated acceleration, velocity information is after zero-speed is corrected, the displacement in horizontal direction and the height of vertical direction are obtained, pedestrian's positioning and track following are carried out by displacement and height.The present invention can navigate for a long time, adaptability is compared with strong and application is wide.
Description
Technical field
The invention belongs to inertial navigation field, more particularly, to a kind of pedestrian positioning and trace tracking method and system.
Background technology
With the fast development of science and technology and quickly propelling for urbanization, location technology becomes all the more in people live
Important, people increase to positioning product, function and the demand of service, so as to expedite the emergence of huge market.Traditional position location techniques base
GPS, wireless network (Wifi, ZigBee, UWB etc.) are all based on this, but in the interior without gps signal, and without wireless
The place of network, this positioning method can not be used.Therefore the pedestrian based on inertial navigation sensors positions and track following skill
Art is gradually risen, and the characteristics of its is maximum is connected firmly in foundation-free can realize independent navigation known to facility or under unknown environment
With real-time positioning.Conventional pedestrian's positioner based on inertial navigation sensors is usual only with accelerometer and gyroscope,
Then coordinate attitude algorithm and zero-speed detection algorithm, carry out three-dimensional track and calculate and positioning.But this scheme, due to gyro
The drift of instrument, causes course angle eventually to dissipate, in the case of long-time navigator fix, and positioning can fail.Meanwhile, conventional base
In the targeting scheme of inertial navigation sensors, it can also be positioned sometimes by the way of to pedestrian's step-size estimation, this scheme
The average step length of specific people is relied on, thus it is poor to the adaptability of personnel, the positioning scene of specific people is only applicable to, significantly
Reduce the application of pedestrian's positioner based on inertial navigation sensors.
As can be seen here, prior art, which exists, to navigate for a long time, the technical problem that adaptability is poor and application is narrow.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of pedestrian positioning and track following side
Method and system, thus solution prior art, which exists, to navigate for a long time, the technical problem that adaptability is poor and application is narrow.
To achieve the above object, positioned according to one aspect of the present invention there is provided a kind of pedestrian and trace tracking method,
Including：
(1) receive pedestrian acceleration information, angular velocity information, acceleration information and angular velocity information are filtered and
Threshold segmentation, obtains speed state information, and attitude information is obtained using angular velocity information when speed is non-zero, utilizes and adds when speed is 0
Velocity information amendment angular velocity information obtains attitude information；
(2) magnetometer information is received, magnetometer is carried out after oval correction, recycles attitude information to carry out pour angle compensation,
Obtain magnetic force course angle；
(3) course angle in magnetic force course angle and attitude information is merged, obtains merging course angle, with reference to attitude information and
Course angle is merged, velocity information is obtained to integrated acceleration, velocity information is after zero-speed is corrected, and integration obtains horizontal direction again
On displacement and vertical direction height, carry out pedestrian's positioning and track following finally by displacement and height.
Further, step (1) includes：
(1-1) is filtered and Threshold segmentation to acceleration information and angular velocity information, obtains speed state information；
Quaternary number is updated using angular velocity information when (1-2) speed is non-zero, attitude information is obtained using quaternary number；Speed is 0
When, adoption rate integration, using the drift of acceleration information amendment angular velocity information, four is updated using angular velocity information after amendment
First number, and then obtain attitude information.
Further, fusion course angle is：
Wherein, 0≤i≤n, ciFor the magnetic force course angle at i moment, yiFor the course angle in the attitude information at i moment, hiFor i
The fusion course angle at moment, EiFor the course angular variation at i moment, kPFor proportionality coefficient, kIFor integral coefficient.
Further, step (3) includes：
(3-1) merges the course angle in magnetic force course angle and attitude information, obtains merging course angle；
(3-2) velocity information is after zero-speed is corrected, and the displacement in horizontal direction can be by horizontal direction speed direct integral
Draw, the speed in vertical direction needs further by upper and lower building to judge, carries out after altimetric compensation, obtains the height of vertical direction
Degree；
(3-3) carries out pedestrian's positioning and track following using displacement and height.
It is another aspect of this invention to provide that there is provided a kind of pedestrian positioning and Trajectory Tracking System, including：Accelerometer,
Gyroscope, magnetometer and control module,
Accelerometer is used for the acceleration information for receiving pedestrian, transmits to control module；
Gyroscope is used for the angular velocity information for receiving pedestrian, transmits to control module；
The magnetometer is used for the magnetometer information for receiving pedestrian, transmits to control module；
The control module is used to obtain speed state information and attitude information using acceleration information, angular velocity information,
Magnetic force course angle is obtained using magnetometer information, the course angle in magnetic force course angle and attitude information is merged, fusion boat is obtained
To angle, pedestrian's positioning and track following are carried out using displacement and height.
Further, control module includes gait submodule, fusion submodule and d navigation submodule.
Further, gait submodule is used to be filtered acceleration information and angular velocity information and Threshold segmentation, obtains
To speed state information, by obtaining velocity information to integrated acceleration, velocity information is after zero-speed is corrected, in horizontal direction
Displacement can show that speed in vertical direction needs further by upper and lower building judge, enters by horizontal direction speed direct integral
After row altimetric compensation, the height of vertical direction is obtained.
Further, fusion submodule is used to obtain attitude information, pedestrian using angular velocity information when pedestrian's speed is non-zero
Speed using acceleration information amendment angular velocity information and then obtains attitude information when being 0, magnetometer is carried out after oval correction,
Pour angle compensation is carried out to it using attitude information and obtains magnetic force course angle, the course angle in magnetic force course angle and attitude information is melted
Close, obtain merging course angle.
Further, d navigation submodule is used to carry out pedestrian's positioning and track following using displacement and height.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
(1) when speed is non-zero, acceleration information is influenceed by external force, can not accurate reaction attitude information, it is now sharp
If obtaining attitude information with acceleration information and angular velocity information, the calculation accuracy of attitude information will be reduced；When speed is 0,
Acceleration information can now correct the skew of angular velocity information, energy with accurate reaction attitude information with acceleration information
Enough effectively improve the calculation accuracy of attitude information, speed of the present invention obtains attitude information, speed when non-zero using angular velocity information
For 0 when using acceleration information amendment angular velocity information and then obtain attitude information, attitude information precision of the invention is high.
(2) present invention merges the course angle in magnetic force course angle and attitude information, and obtained fusion course angle, is feature
The fusion of level, because magnetometer information is easily disturbed, if in data Layer, by magnetometer information and acceleration information, angular speed
Information fusion calculation attitude angle together, easily diffuses to the angle of pitch and roll angle, so as to reduce posture by the error of magnetometer information
The precision of information, and take after feature of present invention level integration program, on the premise of the angle of pitch and roll angular accuracy is not reduced, energy
It is enough effectively to improve the drift of fusion course angle with magnetometer information, so as to further improve the precision of fusion course angle.
(3) walking average step length of the present invention independent of specific people, algorithm amount of calculation is small, can meet major applications
Requirement, the present invention can navigate for a long time, adaptability is compared with strong and application is wide.
(4) preferred, velocity information is after zero-speed is corrected, and the displacement in horizontal direction can be direct by horizontal direction speed
Integration show that the speed in vertical direction needs further by upper and lower building to judge, then merges altimetric compensation, to compensate height
Drift, so lifts the precision of three-dimensional localization in the case where ensureing two-dimensional localization precision.
Brief description of the drawings
Fig. 1 is a kind of pedestrian's positioning provided in an embodiment of the present invention and the flow chart of trace tracking method；
Fig. 2 is a kind of pedestrian positioning and the structure chart of Trajectory Tracking System that the embodiment of the present invention 1 is provided；
Fig. 3 is that a kind of pedestrian positioning that the embodiment of the present invention 1 is provided and the structure design and topology of Trajectory Tracking System are closed
System；
Fig. 4 is the attitude algorithm algorithm flow chart that the embodiment of the present invention 1 is provided.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
As shown in figure 1, a kind of pedestrian's positioning and trace tracking method, including：
(1) receive pedestrian acceleration information, angular velocity information, acceleration information and angular velocity information are filtered and
Threshold segmentation, obtains speed state information, and attitude information is obtained using angular velocity information when speed is non-zero, utilizes and adds when speed is 0
Velocity information amendment angular velocity information obtains attitude information；
(2) magnetometer information is received, magnetometer is carried out after oval correction, recycles attitude information to carry out pour angle compensation,
Obtain magnetic force course angle；
(3) course angle in magnetic force course angle and attitude information is merged, obtains merging course angle, with reference to attitude information and
Course angle is merged, velocity information is obtained to integrated acceleration, velocity information is after zero-speed is corrected, and integration obtains horizontal direction again
On displacement and vertical direction height, carry out pedestrian's positioning and track following finally by displacement and height.
Further, step (1) includes：
(1-1) is filtered and Threshold segmentation to acceleration information and angular velocity information, obtains speed state information；
Quaternary number is updated using angular velocity information when (1-2) speed is non-zero, attitude information is obtained using quaternary number；Speed is 0
When, adoption rate integration, using the drift of acceleration information amendment angular velocity information, four is updated using angular velocity information after amendment
First number, and then obtain attitude information.
Further, fusion course angle is：
Wherein, 0≤i≤n, ciFor the magnetic force course angle at i moment, yiFor the course angle in the attitude information at i moment, hiFor i
The fusion course angle at moment, EiFor the course angular variation at i moment, kPFor proportionality coefficient, kIFor integral coefficient, T1With T2Respectively compare
Example amplitude limit amplitude and integration amplitude limit amplitude.
Further, step (3) includes：
(3-1) merges magnetic force course angle and posture course angle, obtains merging course angle；
(3-2) velocity information is after zero-speed is corrected, and the displacement in horizontal direction can be by horizontal direction speed direct integral
Draw, the speed in vertical direction needs further by upper and lower building to judge, carries out after altimetric compensation, obtains the height of vertical direction
Degree；
(3-3) carries out pedestrian's positioning and track following using displacement and height.
Embodiment 1
As shown in Fig. 2 the embodiment of the present invention 1 provides a kind of pedestrian's positioning and the structural representation of Trajectory Tracking System, its
Mainly it is made up of power supply, accelerometer, gyroscope, magnetometer, control module and bluetooth, its connected mode is：Power supply is with adding
Speedometer, gyroscope, magnetometer, control module and bluetooth connection, control module and accelerometer, gyroscope, magnetometer with
And bluetooth is bi-directionally connected.
As shown in figure 3, a kind of pedestrian positioning that provides of the embodiment of the present invention 1 and the structure design of Trajectory Tracking System and opening up
Flutter relation：It is preferred that, magnetic force is calculated as three axle magnetometer, and accelerometer is three axis accelerometer, and gyroscope is three-axis gyroscope, three
After axle magnetometer is corrected through magnetometer, magnetic force course angle is calculated；Three axis accelerometer and three-axis gyroscope, pass through AHRS posture solutions
Calculate, not only calculate the acceleration that attitude angle also calculates pedestrian's walking under world coordinate system；Attitude angle includes course angle, bowed
The elevation angle and roll angle, after the course angle that attitude algorithm goes out is merged with magnetic force course angle, update pedestrian's step under world coordinate system
Row acceleration；Using pedestrian's walking acceleration under three-axis gyroscope and world coordinate system, by Gait extraction, to pedestrian's walking
State is split, and segmentation result feeds back to AHRS attitude algorithms and for zero-speed correction；After zero-speed is corrected, level side
Upward displacement can be shown that the speed in vertical direction needs further by upper and lower building to sentence by horizontal direction speed direct integral
It is disconnected, carry out after altimetric compensation, then calculate the height of vertical direction.
As shown in figure 4, attitude algorithm takes Quaternion Method to be calculated, quaternary number q is initialized first, when gait is judged as
During non-zero-speed, quaternary number is updated using gyroscope；And when gait is judged as zero-speed, using PI (proportional integration) algorithm, utilize
The drift of accelerometer amendment gyroscope, and quaternary number is updated using revised gyroscope, resolve three finally by quaternary number
Individual attitude angle：Posture course angle y, roll angle r and angle of pitch p, magnetic force course angle c is calculated using magnetometer, and course angle is merged
It is divided into real time fusion and two stages is merged in timing.The real time fusion stage corrects course angle in real time using magnetometer, regularly melts
The conjunction stage periodically updates quaternary number using the course angle after fusion, so that the integrator drift of gyroscope is periodically reset.
The present invention compared with prior art, facility is connected firmly without basis, without extraneous auxiliary equipment, using full self-determination type
Positioning method, can be advantageously used in pedestrian's positioning and track following；And in identical hardware plan, using modified hydrothermal process
Structure, independent of the walking average step length of specific people, algorithm amount of calculation is small, can meet the requirement of major applications.
Using the algorithm in feature-based fusion course angle, while course angle drift is effectively improved, do not have an impact
The calculation accuracy of the angle of pitch and roll angle, and the result judged using zero-speed feeds back to AHRS attitude algorithms, it is to avoid acceleration
In the case of by External force interference, still for correcting the drift of gyroscope, so as to further increase the resolving essence of attitude angle
Degree.
Using zero-speed correcting mode, secondary smooth estimation has not only been done to horizontal velocity, step is utilized for its vertical direction
Row velocity characteristic, has done the secondary smooth estimation of variable ginseng, has further improved the three-dimensional localization precision of the present apparatus.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (9)
1. a kind of pedestrian's positioning and trace tracking method, it is characterised in that including：
(1) acceleration information, the angular velocity information of pedestrian is received, acceleration information and angular velocity information are filtered and threshold value
Segmentation, obtains speed state information, obtains attitude information using angular velocity information when speed is non-zero, acceleration is utilized when speed is 0
Information revision angular velocity information obtains attitude information；
(2) magnetometer information is received, magnetometer is carried out after oval correction, is recycled attitude information to carry out pour angle compensation, obtain
Magnetic force course angle；
(3) course angle in magnetic force course angle and attitude information is merged, obtains merging course angle, with reference to attitude information and fusion
Course angle, velocity information is obtained to integrated acceleration, and velocity information is after zero-speed is corrected, and integration is obtained in horizontal direction again
Displacement and the height of vertical direction, pedestrian's positioning and track following are carried out finally by displacement and height.
2. a kind of pedestrian's positioning as claimed in claim 1 and trace tracking method, it is characterised in that the step (1) includes：
(1-1) is filtered and Threshold segmentation to acceleration information and angular velocity information, obtains speed state information；
Quaternary number is updated using angular velocity information when (1-2) speed is non-zero, attitude information is obtained using quaternary number；When speed is 0,
Adoption rate is integrated, and using the drift of acceleration information amendment angular velocity information, quaternary is updated using angular velocity information after amendment
Number, and then obtain attitude information.
3. a kind of pedestrian's positioning as claimed in claim 1 and trace tracking method, it is characterised in that the fusion course angle
For：
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Wherein, 0≤i≤n, ciFor the magnetic force course angle at i moment, yiFor the course angle in the attitude information at i moment, hiFor the i moment
Fusion course angle, EiFor the course angular variation at i moment, kPFor proportionality coefficient, kIFor integral coefficient.
4. a kind of pedestrian's positioning as claimed in claim 1 and trace tracking method, it is characterised in that the step (3) includes：
(3-1) merges the course angle in magnetic force course angle and attitude information, obtains merging course angle；
(3-2) velocity information is after zero-speed is corrected, and the displacement in horizontal direction can be drawn by horizontal direction speed direct integral,
Speed in vertical direction needs further by upper and lower building to judge, carries out after altimetric compensation, obtain the height of vertical direction；
(3-3) carries out pedestrian's positioning and track following using the height in the displacement and vertical direction in horizontal direction.
5. a kind of pedestrian's positioning and Trajectory Tracking System, it is characterised in that including：Accelerometer, gyroscope, magnetometer and control
Module,
The accelerometer is used for the acceleration information for receiving pedestrian, transmits to control module；
The gyroscope is used for the angular velocity information for receiving pedestrian, transmits to control module；
The magnetometer is used for the magnetometer information for receiving pedestrian, transmits to control module；
The control module is used to obtain speed state information and attitude information using acceleration information, angular velocity information, utilizes
Magnetometer information obtains magnetic force course angle, and the course angle in magnetic force course angle and attitude information is merged, and obtains merging course angle,
Pedestrian's positioning and track following are carried out using displacement and height.
6. a kind of pedestrian's positioning as claimed in claim 5 and Trajectory Tracking System, it is characterised in that the control module includes
Gait submodule, fusion submodule and d navigation submodule.
7. a kind of pedestrian's positioning as claimed in claim 6 and Trajectory Tracking System, it is characterised in that the gait submodule is used
In being filtered and Threshold segmentation to acceleration information and angular velocity information, speed state information is obtained, by being accumulated to acceleration
Get velocity information, after zero-speed is corrected, the displacement in horizontal direction can be drawn by horizontal direction speed direct integral, hang down
The upward speed of Nogata needs further by upper and lower building to judge, carries out after altimetric compensation, obtain the height of vertical direction.
8. a kind of pedestrian's positioning as claimed in claim 6 and Trajectory Tracking System, it is characterised in that the fusion submodule is used
Attitude information is obtained using angular velocity information when speed is non-zero, speed is entered when being 0 using acceleration information amendment angular velocity information
And attitude information is obtained, oval correction is carried out to magnetometer and obtains magnetic force course angle with pour angle compensation, by magnetic force course angle and appearance
Course angle fusion in state information, obtains merging course angle.
9. a kind of pedestrian's positioning as claimed in claim 6 and Trajectory Tracking System, it is characterised in that the d navigation submodule is used
Pedestrian's positioning and track following are carried out in utilizing displacement and height.
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| CN109764865A (en) * | 2019-01-25 | 2019-05-17 | 北京交通大学 | A kind of indoor orientation method based on MEMS and UWB |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108784545A (en) * | 2018-07-25 | 2018-11-13 | 苏州精源创智能科技有限公司 | A kind of inertial navigation system and method applied to sweeping robot |
| CN109708630A (en) * | 2018-12-14 | 2019-05-03 | 北京航空航天大学 | A kind of high method of step strapdown survey based on SHE model |
| CN109708630B (en) * | 2018-12-14 | 2021-04-13 | 北京航空航天大学 | Step strapdown height measurement method based on SHE model |
| CN109855621A (en) * | 2018-12-27 | 2019-06-07 | 国网江苏省电力有限公司检修分公司 | A kind of composed chamber's one skilled in the art's navigation system and method based on UWB and SINS |
| CN109740537A (en) * | 2019-01-03 | 2019-05-10 | 广州广电银通金融电子科技有限公司 | The accurate mask method and system of pedestrian image attribute in crowd's video image |
| CN109740537B (en) * | 2019-01-03 | 2020-09-15 | 广州广电银通金融电子科技有限公司 | Method and system for accurately marking attributes of pedestrian images in crowd video images |
| CN109764865A (en) * | 2019-01-25 | 2019-05-17 | 北京交通大学 | A kind of indoor orientation method based on MEMS and UWB |
| CN110715659A (en) * | 2019-10-25 | 2020-01-21 | 高新兴物联科技有限公司 | Zero-speed detection method, pedestrian inertial navigation method, device and storage medium |
| WO2024036816A1 (en) * | 2022-08-17 | 2024-02-22 | 孙全 | Automatic communication and emergency alerting system |
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