CN107345813A - A kind of indoor plane figure construction method based on MT PDR and intensity signal - Google Patents
A kind of indoor plane figure construction method based on MT PDR and intensity signal Download PDFInfo
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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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Abstract
The invention discloses a kind of indoor plane figure construction method based on MT PDR and intensity signal, towards intelligent mobile terminal inertial sensor and light intensity sensor, it is proposed that fusion carries out the indoor plane figure construction method of region division based on more pedestrian's reckoning tracks (MT PDR) and based on intensity signal, wherein, for " heading effect " problem existing for MT PDR, course estimation is carried out with gyroscope flex point detection algorithm using four increment equivalent rotating vector quaternary numbers are combined.Compared to conventionally employed more radio access nodes, sensor node, with reference to the method for " indoor positioning+range measurement " algorithm structure indoor plane figure, the present invention has relatively low time complexity and algorithm complex, and the structure of indoor plane figure is realized in a manner of low cost, simplicity.
Description
Technical field
The present invention relates to a kind of indoor plane figure construction method based on MT-PDR and intensity signal.
Background technology
For indoor complicated layout environments, such as shopping plaza, parking lot, hospital, people are buying a commodity, sought
When looking for a parking stall or a treatment section office, generally because that quickly and accurately can not be positioned to destination, shortest path is found out
Footpath, so as to carry out the searching of blindness and consume substantial amounts of time and efforts.It is indoor to solve the mankind " last one kilometer " problem
Airmanship is arisen at the historic moment.
The important support instrument of indoor navigation --- indoor plane figure, gradually caused the concern and research of people in recent years,
Wherein, how to build indoor plane figure is still a urgent problem to be solved.The mode of conventional construction indoor plane figure, it is mostly
Manually measure, or the architectural plan provided by developer, builder obtains.As Google in 2011 used manual measurement
Mode build indoor plane figure；Apple Inc. released the iBeacon technologies based on closely Bluetooth communication in 2014, utilized
Beacon equipment sends the information architecture indoor plane figures such as architectural composition.Although the structure of indoor plane figure can be realized with upper type
Work is built, but time complexity is higher, and cost is larger, and because indoor environment is laid out the characteristics of variable, this traditional approach
The indoor plane figure of structure is not easy to update.
Pedestrian's reckoning (Pedestrian Dead Reckoning, PDR) is to be currently based on intelligent mobile terminal, solution
The certainly main stream approach in pedestrian course path, not only mode is simply autonomous, and does not need expensive infrastructure.It is excellent according to these
Gesture, 2012, Shin et al. proposed SmartSLAM methods, fusion wifi fingerprint location technologies, PDR towards intelligent mobile terminal
In meter step algorithm and electronic compass course estimation structure indoor plane figure；It is not unique, but has its counterpart, 2016, Renaudin et al. towards
Intelligent mobile terminal, using more wifi reference modes, PDR path locus structure indoor plane figure is corrected in real time.Structure room above
In the method for inner plane figure, the infrastructure such as addition wifi make it that layout type is cumbersome, more algorithm fusions such as PDR and fingerprint algorithm
So that algorithm complex is higher, and most construction works for only completing indoor verandas plan.For problem above, towards intelligence
Energy mobile terminal inertial sensor and light intensity sensor, the present invention propose that fusion is based on more pedestrian's reckoning tracks (MT-PDR)
With the indoor plane figure construction method that region division is carried out based on intensity signal.
In MT-PDR, that PDR is typical " heading effect " be present, in order to solve the problem, there is proposition to use quaternary
Number Kalman filtering algorithm solves PDR " heading effect " problem, but the algorithm computation complexity is higher, and strong nonlinearity be present
Problem.For problem above, the present invention is small using linear degree height, calculation error, has four increments of nonsingularity feature etc.
Imitate rotating vector quaternary number and carry out course estimation, and combine gyroscope flex point detection algorithm, further improve course precision.Except this
Outside, comprising room, the layout information of corridor area in MT-PDR, but respective layout state can not be obtained.《Architectural lighting
Design standard》Define inhabitation, public and industrial building lighting criteria value, lighting quality and illumination functions rate density, it is indicated that
Indoor different functional space need to arrange in pairs or groups different intensities of illumination.Based on this, the present invention utilizes room area light distribution difference
Property the characteristics of, propose using intensity signal to MT-PDR progress region division.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of indoor plane figure structure based on MT-PDR and intensity signal
Construction method, to solve the problems, such as high cost, high time complexity and algorithm complex in existing structure indoor plane drawing method.
In order to solve the above technical problems, the technical solution adopted in the present invention is：
A kind of indoor plane figure construction method based on MT-PDR and intensity signal, it is characterised in that comprise the steps of：
Step 1：By way of based on mass-rent, using intelligent mobile terminal inertial sensor and light intensity sensor, complete
House data collecting work；
Step 2：The inertial sensor data obtained using step 1, calculate step-length, step in pedestrian's reckoning algorithm
Frequency and course three elements, and generate MT-PDR；
Step 3：To " heading effect " problem present in MT-PDR, using with reference to four increment equivalent rotating vector quaternarys
Number carries out course estimation with gyroscope flex point detection algorithm；
Step 4：According to the characteristics of indoor light intensity distributional difference, using the light intensity sensor data obtained in step 1,
Region division is carried out to MT-PDR, is divided into indoor room and corridor area；
Step 5：MT-PDR after region division is overlapped mutually, builds indoor plane figure.
Invention herein is proposed fusion MT-PDR and the indoor plane figure construction method of region division is carried out based on intensity signal.
Wherein, MT-PDR, which is used, combines four increment equivalent rotating vector quaternary numbers and gyroscope flex point detection algorithm, efficiently solves PDR
In typical " heading effect " problem, it is real to MT-PDR using intensity signal and the characteristics of using indoor light intensity distributional difference
Region division is showed.The construction work of indoor plane figure, compared with the conventional method, cost are completed using simple effective method
It is low, and there is relatively low time complexity and algorithm complex.
Brief description of the drawings
Fig. 1 is a kind of indoor plane figure construction method flow chart based on MT-PDR and intensity signal of the present invention.
Fig. 2 is the gyro data distribution map with turn behavior of the present invention.
Fig. 3 is the MT-PDR course estimation flow charts of the present invention.
Fig. 4 is the indoor plane figure that embodiments of the invention obtain and the comparison schematic diagram with actual indoor arrangement.
Embodiment
Below in conjunction with the accompanying drawings and the present invention is described in further detail by embodiment, and following examples are to this hair
Bright explanation and the invention is not limited in following examples.
As shown in figure 1, the present invention a kind of indoor plane figure construction method based on MT-PDR and intensity signal, comprising with
Lower step：
Step 1：Mode based on mass-rent, using intelligent mobile terminal inertial sensor and light intensity sensor, realize data
Synchronous acquisition, specific implementation process is,
1.1 in intelligent mobile terminal installation data acquisition software, realizes 3-axis acceleration sensor, three-axis gyroscope sensing
The synchronous acquisition of device, three axle Orientation sensors and light intensity sensor data；
1.2 user's hand-held intelligent mobile terminals are walked indoors, and sensor data acquisition is completed by data acquisition software
Work.
Step 2：The inertial sensor data obtained using step 1, calculate step-length, step in pedestrian's reckoning algorithm
Frequency and course three elements, and generate MT-PDR；
In the process of walking, walking step state is the process of a cycle to human body, according to intelligent mobile terminal inertia sensing
The characteristics of device statistical property is with walking step state correlation, can obtain cadence, step-length and course, and cadence can be by dividing with step-length
Analyse acceleration transducer data to obtain, in order to eliminate unpredictable error, need in advance to carry out at smoothing denoising sensing data
Reason, in order to avoid intelligent mobile terminal is towards the influence of acceleration transducer numerical value change is caused, in calculating process, using removal
Three axle resultant acceleration data of weight component so that resultant acceleration data are distributed with coordinate y-axis near symmetrical, and waveform is in fixed number
Being fluctuated in the range of value, the specific implementation process of three elements calculating is in MT-PDR,
2.1 estimation for step-length, using the three axle resultant acceleration data for removing weight component, moved using nonlinear model
State estimation step-length, formula are as follows：
In formula, K is dynamic step length coefficient, and SL is the step value calculated；Amax、AminAcceleration in representing respectively per step period
Maximum, the minimum value of sensor；Represent in whole motion process, acceleration maximum forms sequence in all cadence cycles
The average value of row；A, b, c are the constant parameter that training obtains；
The estimation of 2.2 pairs of cadences, using the three axle resultant acceleration data for removing weight component, using peak detection algorithm meter
Walking cadence is calculated, in peak detection algorithm, numerical analysis is carried out by pairing Acceleration pulse, defines crest threshold value
VthresholdInterval be [0.8,3], the frequency range normally walked according to pedestrian is 1~2.5Hz, definition take a step the cycle
TthresholdInterval be [0.4s, 1s], when in resultant acceleration waveform, the peak value of adjacent two crest is in VthresholdIn,
Time interval is in TthresholdWhen middle, a step is designated as, completes the calculating of cadence；
The calculating process in 2.3 pairs of courses, specifically as shown in step 3.
Step 3：In order to solve " heading effect " problem existing for MT-PDR, the present invention uses and combines the equivalent rotation of four increments
Turn vector quaternary number and carry out course estimation with gyroscope flex point detection algorithm；Wherein, for gyroscope flex point detection algorithm, Fig. 2
Indicate the gyro sensor feature associated with human motion state：When gyroscope sensor data is compared with fractional value scope
Interior fluctuation, and during change stabilization, represent that pedestrian is in during straight line moving；When high value mutation, expression occur for gyro data
In the process of walking there occurs image of turning round, also, when negative value mutation occurs for gyro data, represent to send out in walking process
Given birth to positive turning behavior, course value increase, when positive number value mutation occurs for gyro data, represent in walking process there occurs
U-turn behavior, course value reduce；Fig. 3 indicates the calculation process of MT-PDR courses track, and specific implementation process is,
3.1 initial attitude angle (the Φ obtained according to Orientation sensors0θ0Ψ0)T, obtain initial quaternary number Q0；
3.2 when detecting that row makes a move, and whether the data of detection gyroscope Z axis undergo mutation, and in the event of being mutated, examines
Mutation numerical values recited is surveyed, if mutation numerical value>0, current course value is reduced 90 °, whereas if mutation numerical value<0, will be current
90 ° of course value increase；
If 3.3 gyroscope Z axis data are not undergone mutation, attitude quaternion is updated according to four increment equivalent rotating vectors
Q, formula are Q (t+h)=Q (t) * Δ q, wherein, h is time renewal interval, and Δ q is equivalent rotating vector quaternary number, and Q (t) is t
The quaternary number at moment, Q (t+h) are the quaternary number after updating at the t+h moment, realize course more using the quaternary number Q (t+h) after renewal
Newly；
Wherein, T is the quaternionic matrix tried to achieve according to quaternary number Q (t+h), (Φ θ Ψ)TTo be counted by quaternionic matrix T
Calculate the new attitude angle obtained.
Step 4：To realize the region division in room in MT-PDR, corridor, the present invention proposes the region based on intensity signal
Division methods；Influenceed by factors such as weather, light, large range of fluctuation be present in indoor office, the light intensity value of learning region,
And the light intensity value changes of corridor area are stable, but general trend is shown as, and indoor office, the light intensity value of study room area are universal
Higher than the light intensity value of corridor area, and light distribution difference is obvious, based on features described above, utilizes indoor light intensity information realization MT-
PDR region division, specific implementation process be,
All light intensity datas carry out min-max standard normalizeds in 4.1 couples of MT-PDR, and set Intensity threshold
Lthreshold；
4.2 are in [0, L when light intensitythreshold] interval range in when, its corresponding MT-PDR track is divided into corridor
Region, and be indicated with straight line, conversely, when light intensity is in [Lthreshold, 1] interval range in when, track is divided into room
Between region, and be indicated with dotted line, so as to complete MT-PDR region division.
Step 5：The MT-PDR for realizing region division is overlapped mutually, to build indoor plane figure, Fig. 4 indicates this
Invent the indoor plane figure of structure and the comparative result with actual indoor arrangement, it can be seen that by the way that region division will be completed
MT-PDR structure indoor plane figure compared with actual indoor arrangement, matching rate is higher, and realizes constructed plan
The region division in middle room and corridor, has efficiently accomplished the construction work of indoor plane figure.
Above content described in this specification is only illustration made for the present invention.Technology belonging to the present invention
The technical staff in field can be made various modifications or supplement to described specific embodiment or be substituted using similar mode, only
Will without departing from description of the invention content or surmount scope defined in the claims, all should belong to the present invention guarantor
Protect scope.
Claims (4)
1. a kind of indoor plane figure construction method based on MT-PDR and intensity signal, it is characterised in that comprise the steps of：
Step 1：By way of based on mass-rent, using intelligent mobile terminal inertial sensor and light intensity sensor, complete indoor
Data collection task；
Step 2：Using step 1 obtain inertial sensor data, calculate pedestrian's reckoning algorithm in step-length, cadence with
Course three elements, and generate MT-PDR；
Step 3：To " heading effect " problem present in MT-PDR, using combine four increment equivalent rotating vector quaternary numbers with
Gyroscope flex point detection algorithm carries out course estimation；
Step 4：It is right using the light intensity sensor data obtained in step 1 according to the characteristics of indoor light intensity distributional difference
MT-PDR carries out region division, is divided into indoor room and corridor area；
Step 5：MT-PDR after region division is overlapped mutually, builds indoor plane figure.
2. according to a kind of indoor plane figure construction method based on MT-PDR and intensity signal described in claim 1, its feature
It is：The step 1 detailed process is,
1.1 in intelligent mobile terminal installation data acquisition software, realize 3-axis acceleration sensor, three-axis gyroscope sensor,
The synchronous acquisition of three axle Orientation sensors and light intensity sensor data；
1.2 user's hand-held intelligent mobile terminals are walked indoors, and completing sensor data acquisition by data acquisition software works.
3. according to a kind of indoor plane figure construction method based on MT-PDR and intensity signal described in claim 1, its feature
It is：In the step 3, to solve " heading effect " problem existing for MT-PDR, using with reference to four increment equivalent rotating vectors
Quaternary number and gyroscope flex point detection algorithm realize course estimation, and detailed process is,
3.1 obtain initial attitude angle (Φ according to Orientation sensors0 θ0 Ψ0)T, and obtain initial quaternary number Q0；
3.2 when detecting that row makes a move, and whether the data of detection gyroscope Z axis undergo mutation, and in the event of being mutated, detection is prominent
Variable value size, when mutation numerical value>When 0, current course value is reduced 90 °, conversely, mutation numerical value<When 0, current course is worth
90 ° of increase；
If 3.3 gyroscope Z axis data are not undergone mutation, quaternary number Q is updated according to four increment equivalent rotating vectors, is utilized
Quaternary number after renewal realizes that course updates.
4. according to a kind of indoor plane figure construction method based on MT-PDR and intensity signal described in claim 1, its feature
It is：It is to MT-PDR progress region divisions, detailed process using light intensity sensor data in the step 4,
All light intensity datas carry out min-max standard normalizeds in 4.1 couples of MT-PDR, and set Intensity threshold
Lthreshold；
4.2 are in [0, L when light intensitythreshold] interval range in when, its corresponding MT-PDR track is divided into corridor area
Domain, and be indicated with straight line, conversely, when light intensity is in [Lthreshold, 1] interval range in when, by its corresponding MT-PDR
Track is divided into room area, and is indicated with dotted line, so as to complete MT-PDR region division.
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