CN107576325B - A kind of indoor positioning terminal merging visual odometry and Magnetic Sensor - Google Patents
A kind of indoor positioning terminal merging visual odometry and Magnetic Sensor Download PDFInfo
- Publication number
- CN107576325B CN107576325B CN201710744053.8A CN201710744053A CN107576325B CN 107576325 B CN107576325 B CN 107576325B CN 201710744053 A CN201710744053 A CN 201710744053A CN 107576325 B CN107576325 B CN 107576325B
- Authority
- CN
- China
- Prior art keywords
- module
- matching
- geomagnetic
- magnetic field
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Navigation (AREA)
- Measuring Magnetic Variables (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention relates to it is a kind of merge visual odometry and Magnetic Sensor indoor positioning terminal, including earth magnetism acquisition with pretreatment unit, visual odometry unit, merge locating module and wireless transport module.The present invention is based on visual odometries and earth magnetism to sense the measurement to indoor environment, carries out fusion positioning in conjunction with mileage and Geomagnetism Information, the present invention is without laying base station, and without carrying out plant maintenance, positioning accuracy is high, reliable and stable, easy to maintain；Avoid inertial navigation location technology positioning accuracy at any time rapid divergence the problem of, positioning field has broad application prospects indoors.
Description
Technical field
The present invention relates to field of locating technology, especially a kind of indoor positioning side for merging visual odometry and Magnetic Sensor
Method.
Background technique
Indoor positioning technologies refer to it is a kind of using mobile radio networks, by some of the radio wave received
Parameter or other information measure, according to specific algorithm to people, vehicle or equipment in sometime locating geographical location
Accurately measured, to provide relevant location information service for positioning terminal user, or be measured in real time and track
Positioning and airmanship.
It include bluetooth using more indoor positioning technologies, WIFI, radio frequency identification (RFID), ultra wide band (UWB), infrared
With ultrasonic wave, Zigbee etc..The transmission of bluetooth location technology data is not influenced by sighting distance, but for complicated space environment, blue
The stability of tooth system is slightly worse, is interfered the big and price of bluetooth devices and equipment more expensive by noise signal；WIFI transmission distance
From shorter, power consumption is higher, is interfered by noise signal big；RFID does not have communication capacity, and anti-interference ability is poor, is not easy to integrate
To among other systems, and the security privacy guarantee and International standardization of user are all incomplete；UWB location technology power consumption compared with
Height, while the system cost is high；Infrared ray can only line-of-sight propagation, penetration performance is very poor, and layout is complicated, higher cost, also easily
By such environmental effects such as light, smog；The aerial decaying of ultrasonic wave is larger, is not suitable for large-scale occasion, reflects ranging
When, is influenced very big by multipath effect and non-line-of-sight propagation, causes the bottom hardware facility investment for needing Accurate Analysis to calculate, cost
It is too high；Zigbee transmission rate is low, and positioning accuracy is more demanding to algorithm.
Currently, 90% or more indoor positioning technologies are the mode based on the wireless base stations such as WiFi and bluetooth, this positioning
Method or coverage area is small or needs are complicated deployment, hardware and installation, maintenance cost are very high.And using inertial navigation
Location technology carry out indoor positioning when, there are micro- inertial navigation at any time rapid divergence the shortcomings that.
In the indoor scene of modernization, the main source in magnetic field is divided into the production of the magnetic texures such as earth's magnetic field and building reinforcing bar
Raw magnetic field.Wherein earth's magnetic field changes smaller on small space scale, and the magnetic field that fabric structure generates is in lesser sky
Between feature rich on scale, and it is generated by fabric structure, in the case where building overall structure is constant, the partial magnetic field
Also almost unchanged.Therefore, the magnetic field that fabric structure generates provides a natural coordinate system for the measurement of location information, benefit
The positioning to mobile object may be implemented with the information.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide the indoor positioning of a kind of fusion visual odometry and Magnetic Sensor is whole
End, the wireless location technology coverage area to solve traditional is small, needs to dispose wireless base station indoors, causes to install and safeguard
The problem of higher cost, using visual odometry avoid inertial navigation location technology positioning accuracy at any time rapid divergence the problem of.
The purpose of the present invention is mainly achieved through the following technical solutions:
It is a kind of merge visual odometry and Magnetic Sensor indoor positioning terminal, comprising: earth magnetism acquisition with pretreatment unit,
Visual odometry unit, fusion locating module 9 and wireless transport module 10；The earth magnetism acquisition is completed over the ground with pretreatment unit
The acquisition and pretreatment of magnetic data export the geomagnetic chart information in the Geomagnetism Information and application scenarios of current location；The vision
Odometer unit carries out mileage information calculating according to the visual pattern of acquisition；The fusion locating module 9 is adopted according to the earth magnetism
Collection and Geomagnetism Information, geomagnetic chart information and the mileage information of visual odometry unit output of pretreatment unit output carry out
Earth magnetism adds visual odometry fusion positioning；The wireless transport module 10 wirelessly sends user for positioning result and answers
With layer.
Further, earth magnetism acquisition and pretreatment unit include that geomagnetic chart memory module 1, geomagnetic sensor are original
Parameter memory module 2, magnetic field sensor 3, magnetic field data acquisition module 4；
The geomagnetic chart memory module 1 store in the application scenarios for measuring obtain in advance including geomagnetic field information
Earth magnetism diagram data, for actual measurement current location Geomagnetic signal carry out matching positioning；
The magnetic field sensor 3 obtains the geomagnetic field information of current location for incuding external magnetic field；
The geomagnetic sensor initial parameter memory module 2 stores the initial parameter of the magnetic field sensor 3；
The magnetic field data acquisition module 4 carries out number to collected geomagnetic field information using 24 AD Acquisition Circuits
Change.
Further, the earth magnetism acquisition further includes that magnetic field data correction module 5 and interference magnetic field are known with pretreatment unit
Other separation module 6；
5 pairs of the magnetic field data correction module digitize geomagnetic field information is corrected；
The interference magnetic field identifies that the geomagnetic field information after 6 pairs of separation module corrections carries out the identification of interference magnetic field and separation,
The identification and isolated interference signal include the step signal that high-frequency signal and facility switching generate.
Further, interference magnetic field identification separation module 6 include medium filtering module 61, first-order difference module 62,
Anomalous identification and processing module 63 and signal integration recovery module 64；
The medium filtering module 61 carries out median filtering to three axis earth magnetism field datas after the correction；
The first-order difference module 62 is amplified step signal by calculus of differences；
The anomalous identification and processing module 63 detect geomagnetic data by the way that relevant threshold value is arranged, when magnetic field number
When according to being higher than the threshold value, it is believed that be step signal, and remove it；
The geomagnetic data that the signal integration recovery module 64 exports the anomalous identification and processing module 63 measures
The mean value of data first-order difference replaces, and carries out integral reduction, the geomagnetic data after obtaining interference separation.
Further, the median filtering window of the medium filtering module 61 is set as the sampling number of 1~2s, described different
Common sense is not and the mean value of measurement data first-order difference that is set as in nearest 1s of the threshold value of processing module 63 adds 3 times of standard deviations, institute
State measurement data of the geomagnetic data in 1s that signal integration recovery module 64 exports the anomalous identification and processing module 63
The mean value of first-order difference replaces.
Further, the visual odometry unit includes visual sensor 7, visual sensor initial parameter memory module
2 ' and visual odometry module 8；
The visual sensor 7 acquires external image information；
The visual sensor initial parameter memory module 2 ' stores the initial parameter of the visual sensor 7；
The visual odometry module 8 carries out mileage information according to the image information that the visual sensor 7 measurement obtains
It calculates.
Further, the visual odometry module 8 includes feature detection module 81, characteristic matching module 82, calibration mold
Block 83 and coordinate transformation module 84；
The demarcating module 83 carries out transducer calibration to the image information that the visual sensor 7 exports, and obtains vision
Sensor parameters；
The adjacent two field pictures that the feature detection module 81 collects the visual sensor 7, carry out for
The extraction for the image point feature matched；
The two images that the characteristic matching module 82 extracts the feature detection module 81 using characteristic matching method
Point feature matched；
The same point matched in two obtained width figures is transformed into world coordinate system and obtains by the coordinate transformation module 83
The mileage information in the time interval of acquisition two images is obtained, continuously ambient image is measured, and calculate adjacent two frame
Mileage in image temporal interval obtains the mileage that the carrier in a period of time is advanced.
Further, the fusion locating module 9 includes first matching module 91 and continuous coupling locating module 92；
The head matching module 91 carries out first matching, the first matching is according to the view after positioning terminal restarting
Feel the geomagnetic data that mileage information, earth magnetism acquisition and pretreatment unit that odometer module 8 exports export, determines first matching
Position geomagnetic field information, the Geomagnetism Information of the measurement is matched with the earth magnetism diagram data being previously stored, in global model
Enclose the possible position of interior search positioning terminal；
The continuous coupling locating module 92 is for the consecutive tracking after first matching.
Further, search position fixing process of the first matching module 91 in global scope includes:
Three segment length of proceeding measurement is the field pulses of L, and the L length is 3 to 10 meters, and the overall situation is carried out in region and is searched
Rope finds the position where the reference magnetic field sequence most like with real-time magnetic field measurement sequence, is denoted as by matching related algorithm
PM1, PM2, PM3；The position of visual odometry label is PA1, PA2, PA3 at this time；
Matching relevant calculation is carried out, the matching relevant calculation includes scalar matching and vector matching both of which, is being marked
Under flux matched mode, the similitude of total field strength is only compared；Under vector matching mode, the similitude of three components is compared, always
Correlation be three component correlations sum；
First matching judgement is carried out,Three
Position carries out consistency judgement, and judgment condition is | Dis1-Dis2 |≤m& | and Dis2-Dis3 |≤m& | Dis3-Dis1 |≤m, institute
Stating m is the decision threshold of distance, if meeting judgment condition, using absolute mean deviation matching process or product Image Matching two
Kind matching related algorithm is matched, and when being matched using absolute mean deviation matching process, selects the minimum of similarity value
The corresponding position of value is final matching position, when being matched using product Image Matching, selects similarity value most
The corresponding position of big value is that final matching position continues to measure if being unsatisfactory for decision threshold, adjudicates item until meeting
Until part.
Further, the continuous coupling locating module 92 carries out a geomagnetic matching positioning every certain setting time,
The continuous coupling locating module 92 centered on the position that visual odometry module 8 described when last matching position exports,
Radius scans for positioning in the range of being R, and the radius R is to be determined in advance according to the position error range of visual odometry,
On the basis of being greater than the position error range, positioning calculation is carried out by matching related algorithm, and positioning result is output to
The wireless transport module 10.
The present invention has the beneficial effect that:
The indoor positioning terminal for merging visual odometry and Magnetic Sensor, it is fixed merge in conjunction with mileage and Geomagnetism Information
Position, without laying base station, without carrying out plant maintenance, positioning accuracy is high, reliable and stable, easy to maintain；Avoid inertial navigation positioning
Technological orientation precision at any time rapid divergence the problem of, positioning field has broad application prospects indoors.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the indoor positioning terminal schematic diagram for merging visual odometry and Magnetic Sensor；
Fig. 2 is that interference magnetic field identifies separation module schematic diagram；
Fig. 3 is visual odometry module principle figure；
Fig. 4 is fusion locating module schematic diagram.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
A specific embodiment of the invention discloses the indoor positioning end of a kind of fusion visual odometry and Magnetic Sensor
End, earth magnetism acquisition with pretreatment unit, visual odometry unit, merge locating module 9 and wireless transport module 10；The earth magnetism
Acquisition is completed to separate the acquisition of geomagnetic data, digitlization, correction and the identification of interference magnetic field with pretreatment unit；In the vision
Journey meter unit carries out mileage information calculating according to the visual pattern of acquisition；The fusion locating module 9 is according to earth magnetism acquisition and in advance
Processing unit output Geomagnetism Information, geomagnetic chart information and visual odometry unit output mileage information carry out earth magnetism and add vision mileage
Meter fusion positioning；Positioning result is wirelessly sent user application layer by the wireless transport module 10.
The earth magnetism acquisition includes geomagnetic chart memory module 1, the storage of geomagnetic sensor initial parameter with pretreatment unit
Module 2, magnetic field sensor 3, magnetic field data acquisition module 4, magnetic field data correction module 5, interference magnetic field identify separation module 6；
The geomagnetic chart memory module 1 stores the ground including geomagnetic field information in the application scenarios for measuring obtain in advance
Magnetic chart data, the data structure of the geomagnetic chart are divided into six parts:
1) the point spacing of benchmark graph data: the actual range between i.e. two neighboring point；
2) road travel permit number: it is contained in the item number nLen of the road in database；
3) course: the course information of every road, data structure are the matrix of nLen × 1；
4) terminal point information: the corresponding starting point coordinate of every road and terminal point coordinate, data structure are the matrix of nLen × 4；
5) road connection figure: the road travel permit number and road number that every road is connected, data structure be nLen ×
(nLen+1) matrix constitutes a non-directed graph；
6) Magnetic Field: the title including every road, the magnetic field points and the forward direction on this road, the right side for including
To and vertical Magnetic Field.
The initial parameter that the sensor initial parameter memory module 2 stores the Magnetic Sensor 3 includes Magnetic Sensor three
The zero bias b of axisx, by, bzWith sensitivity sx, sy, sz。
The magnetic field sensor 3, using reluctive transducer, position magnetic field is converted to for incuding external magnetic field
Voltage output obtains three Axle mould analog quantity magnetic field data mag under carrier coordinate systemRMx、magRMy、magRMz。
The AD Acquisition Circuit that the magnetic field data acquisition module 4 is 24, by three Axle mould analog quantity magnetic field data magRMx、
magRMy、magRMzThe digitlization of magnetic-field measurement data, the three-axle magnetic field mag after output digitlizationRx0、magRy0、magRz0。
The magnetic field data correction module 5 is by the three-axle magnetic field mag after the digitlization of outputRx0、magRy0、magRz0It carries out
Correction, correction parameter needed for the correction: the sensitivity s of three axis of Magnetic Sensorx, sy, sz, the zero point b of three axis of Magnetic Sensorx,
by, bz, it is stored in the sensor initial parameter memory module 2,Institute
State magRx1、magRy1、magRz1For the three-axle magnetic field after correction, it is output to the interference magnetic field identification separation module 6.
The interference magnetic field identification separation module 6 is identified and is removed to the random disturbances magnetic field in environment, it is ensured that magnetic
The stability of field feature；
In the application environment of random disturbances magnetic field, in general, the random disturbances magnetic field be mainly reflected in some high-frequency signals with
And the step signal that facility switching generates, in the interference magnetic field identification separation module 6 for the identification of these two types of signals and
Separation module, as shown in Fig. 2, including medium filtering module 61, first-order difference module 62, anomalous identification and processing module 63 and letter
Number integral recovery module 64.
The medium filtering module 61 carries out median filtering, median filtering window to three axis earth magnetism field datas after the correction
Mouth is set as the sampling number of 1~2s, by median filtering, can effectively eliminate the High-frequency Interference of electrical equipment generation, retain
The step signal and environmental characteristic signal that electrical equipment switch generates, the geomagnetic data after median filtering are output to described
First-order difference module 62；
The first-order difference module 62 is highlighted step signal by calculus of differences, through first-order difference treated ground
Magnetic data is output to the anomalous identification and processing module 63,
The anomalous identification and processing module 63 detect geomagnetic data by the way that relevant threshold value is arranged, the threshold value
It is set as+3 times of standard deviations of mean value of measurement data first-order difference in nearest 1s；When magnetic field data is higher than the threshold value, it is believed that be
Step signal, removes it；
The geomagnetic data that the signal integration recovery module 64 exports the anomalous identification and processing module 63 is in 1s
The mean value of measurement data first-order difference replaces, and carries out integral reduction, the geomagnetic data after obtaining interference separation.
The visual odometry unit include the visual sensor 7, visual sensor initial parameter memory module 2 ' and
Visual odometry module 8；
The visual sensor 7 is CCD picture pick-up device, by collected external image for acquiring external image information
Information is output to the visual odometry module 8.
The initial parameter that the visual sensor initial parameter memory module 2 ' stores the visual odometry 7 includes:
Inner parameter Δ x, Δ y, f, κ, external parameterAnd
Δ x, real image physical coordinates system and ideal image physical coordinates system x to deviation；
Δ y, real image physical coordinates system and ideal image physical coordinates system y to deviation；
F, the real focal length of visual sensor lens；
κ, distortion factor；
R, the transition matrix of world coordinate system to visual sensor coordinate system, the rij, i, j=1,2,3, for conversion system
Number；
T, coordinate of the world coordinate system origin in visual sensor coordinate system, the Tx、Ty、TzFor under respective coordinates axis
Coordinate.
The visual odometry module 8 carries out mileage information calculating according to the image information that visual sensor measurement obtains,
As shown in figure 3, including feature detection module 81, characteristic matching module 82, demarcating module 83 and coordinate transformation module 84.
The visual sensor 7 exports image information and carries out transducer calibration in the demarcating module 83, obtains vision
Sensor parameters, demarcating module is demarcated using Tsai scaling method in the present embodiment.
The two field pictures that the feature detection module 81 collects the visual sensor 7 are carried out for matched
The extraction of image point feature, feature Detection and Extraction use SIFT method in the present embodiment；
The point feature for the two images that the characteristic matching module 82 extracts the feature detection module 81 into
Row matching, the present embodiment are matched using characteristic matching method；
The same point matched in two obtained width figures is transformed into world coordinate system and obtains by the coordinate transformation module 83
The mileage information in the time interval of acquisition two images is obtained, continuously ambient image is measured, and calculate adjacent two frame
Mileage in image temporal interval, obtains the mileage that the carrier in a period of time is advanced, and the mileage is output to institute
State fusion locating module 9.
The fusion locating module 9 is according to the earth magnetism after the interference separation of the interference magnetic field identification output of separation module 6
The mileage number of data, the earth magnetism diagram data of the geomagnetic chart memory module 1 storage and the visual odometry module 8 output
According to progress earth magnetism+visual odometry fusion positioning.As shown in figure 4, the fusion locating module 9 includes 91 He of first matching module
Continuous coupling locating module 92.
The head matching module 91 carries out first matching, the first matching is according to institute after positioning terminal restarting
After stating the mileage information of the output of visual odometry module 8, the interference separation that the interference magnetic field identification separation module 6 exports
Geomagnetic data, first matched position geomagnetic field information is determined, by the Geomagnetism Information of the measurement and geomagnetic chart memory module 1
The earth magnetism diagram data of storage is matched, and improves first by the method for carrying out consistency judgement to matching result continuously three times
The reliability matched, the first matching starting global search mode, i.e., searched in global scope positioning terminal may position.
It is described head matching module 91 in search position fixing process include:
1. three segment length of proceeding measurement is L meters (empirical value of L, 3≤L≤10) field pulses, carried out in region
Global search matches related algorithm by mean square deviation algorithm (MSD) or cross correlation algorithm (COR) etc., finds and survey with real-time magnetic field
The position where the most like reference magnetic field sequence of sequence is measured, PM1, PM2, PM3 are denoted as；The position of visual odometry label at this time
It is PA1, PA2, PA3.
2. carry out matching relevant calculation, the matching relevant calculation include scalar matching with vector matching both of which,
Under scalar match pattern, the similitude of total field strength is only compared；Under vector matching mode, the similar of three components is compared
Property, total correlation is the sum of three component correlations.
3. first matching judgement is carried out, according to judgement formulaTo PM1, tri- positions PM2, PM3
Consistency judgement is carried out, judgment condition is | Dis1-Dis2 |≤m& | Dis2-Dis3 |≤m& | Dis3-Dis1 |≤m, the m are
The decision threshold of distance, generally takes 1~3m, if meeting judgment condition, using absolute mean deviation matching process or product related
Two kinds of matching related algorithms of method of completing the square are matched, and when being matched using absolute mean deviation matching process, select similarity
Position corresponding to the minimum value of value is final matching position, when being matched using product Image Matching, is selected similar
Position corresponding to the maximum value of angle value is that final matching position continues to measure, Zhi Daoman if being unsatisfactory for decision threshold
Until sufficient judgment condition.
After head matching, it is continuous fixed that the head matching module 91 output trigger signal starting continuous coupling module 92 enters
Bit pattern.
In the continuous coupling locating module 92, every 1s, a geomagnetic matching positioning, and first matching difference are carried out,
Global search method is no longer used, and when with last matching position, during the position that the visual odometry module 8 exports is
The heart, radius scan for positioning in the range of being R, and the radius R is true according to the position error range of visual odometry in advance
It is fixed, on the basis of being greater than the position error range, Geomagnetic Matching Method in the continuous coupling locating module 92 with it is described
Geomagnetic Matching Method in first matching module 91 is identical.The result that the continuous coupling locating module 92 positions geomagnetic matching is defeated
The wireless transport module 10 is arrived out.
The wireless transport module 10 sends the result that the geomagnetic matching positions by Radio Transmission Technology,
Carry out application layer process.The Radio Transmission Technology that the wireless transport module 10 uses can be but not limited to wifi, zigbee,
The Radio Transmission Technologys such as NB-IoT, Lora.
In conclusion a kind of passive integrated positioning based on space environment magnetic signature provided in an embodiment of the present invention is whole
End, carries out fusion positioning in conjunction with mileage and Geomagnetism Information, and without laying base station, without carrying out plant maintenance, positioning accuracy is high, steady
Surely it is reliable, easy to safeguard；Avoid inertial navigation location technology positioning accuracy at any time rapid divergence the problem of, positioning field indoors
It has broad application prospects.
It will be understood by those skilled in the art that realize all or part of the process of the method in above-described embodiment module, it can
It is completed with instructing relevant hardware by computer program, the program can be stored in computer readable storage medium
In.Wherein, the computer readable storage medium is disk, CD, read-only memory or random access memory etc..
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of indoor positioning terminal for merging visual odometry and Magnetic Sensor characterized by comprising earth magnetism acquisition with it is pre-
Processing unit, visual odometry unit, fusion locating module (9) and wireless transport module (10)；The earth magnetism acquisition and pre- place
Acquisition and pretreatment of the unit completion to geomagnetic data are managed, the earth magnetism in the geomagnetic field information and application scenarios of current location is exported
Figure information；The visual odometry unit carries out mileage information calculating, the visual odometry list according to the visual pattern of acquisition
Member includes visual odometry module (8)；Fusion locating module (9) is according to earth magnetism acquisition and pretreatment unit output
Geomagnetic field information, the mileage information of the geomagnetic chart information in application scenarios and visual odometry unit output of current location
It carries out earth magnetism and adds visual odometry fusion positioning；The wireless transport module (10) wirelessly sends positioning result to
User application layer；
The fusion locating module (9) includes first matching module (91) and continuous coupling locating module (92)；
The head matching module (91) carries out first matching, the first matching is according to vision mileage after positioning terminal restarting
The mileage information of module (8) output, the geomagnetic field information of earth magnetism acquisition and the current location of pretreatment unit output are counted, really
Fixed first matched position geomagnetic field information, the position geomagnetic field information is matched with the geomagnetic chart information being previously stored,
The possible position of positioning terminal is searched in global scope；
The continuous coupling locating module (92) is for the consecutive tracking after first matching；
The search position fixing process of head matching module (91) in global scope include:
Three segment length of proceeding measurement is the field pulses of L, and the L length is 3 to 10 meters, and global search is carried out in region,
By matching related algorithm, the position where the reference magnetic field sequence most like with real-time magnetic field measurement sequence is found, is denoted as
PM1, PM2, PM3；The position of visual odometry label is PA1, PA2, PA3 at this time；
Matching relevant calculation is carried out, the matching relevant calculation includes scalar matching and vector matching both of which, in scalar
With under mode, the similitude of total field strength is only compared；Under vector matching mode, the similitude of three components, total phase are compared
Pass value is the sum of three component correlations；
First matching judgement is carried out, using judgement formulaTo PM1, tri- positions PM2, PM3 carry out consistent
Property judgement, judgment condition is | Dis1-Dis2 |≤m& | Dis2-Dis3 |≤m& | Dis3-Dis1 |≤m, the m are sentencing for distance
Certainly thresholding is matched using absolute mean deviation matching process or product Image Matching, is being used if meeting judgment condition
When absolute mean deviation matching process is matched, select position corresponding to the minimum value of similarity value for final match bit
It sets, when being matched using product Image Matching, selects position corresponding to the maximum value of similarity value for final matching
Continue to measure, until meeting judgment condition if being unsatisfactory for judgment condition in position.
2. indoor positioning terminal according to claim 1, which is characterized in that the earth magnetism, which is acquired with pretreatment unit, includes
Geomagnetic chart memory module (1), geomagnetic sensor initial parameter memory module (2), magnetic field sensor (3), magnetic field data acquisition
Module (4)；
The geomagnetic chart memory module (1) storage measure in advance in obtained application scenarios including geomagnetic field information
Geomagnetic chart information, for carrying out matching positioning with the geomagnetic field information of actual measurement current location；
The magnetic field sensor (3) obtains the geomagnetic field information of current location for incuding external magnetic field；
The geomagnetic sensor initial parameter memory module (2) stores the initial parameter of the magnetic field sensor (3)；
The magnetic field data acquisition module (4) carries out number to collected geomagnetic field information using 24 AD Acquisition Circuits
Change.
3. indoor positioning terminal according to claim 1, which is characterized in that the earth magnetism acquisition is also wrapped with pretreatment unit
Include magnetic field data correction module (5) and interference magnetic field identification separation module (6)；
The magnetic field data correction module (5) is corrected digitized geomagnetic field information；
Interference magnetic field identification separation module (6) carries out the identification of interference magnetic field and separation, institute to the geomagnetic field information after correction
It states identification and isolated interference signal includes the step signal that high-frequency signal and facility switching generate.
4. indoor positioning terminal according to claim 3, which is characterized in that
Interference magnetic field identification separation module (6) includes medium filtering module (61), first-order difference module (62), anomalous identification
And processing module (63) and signal integration recovery module (64)；
The medium filtering module (61) carries out median filtering to the geomagnetic field information after the correction；
The first-order difference module (62) is amplified step signal by calculus of differences；
The anomalous identification and processing module (63) detect geomagnetic data by the way that relevant threshold value is arranged, and work as magnetic field data
When higher than the threshold value, it is believed that be step signal, and remove it；
The signal integration recovery module (64) measures the geomagnetic data that the anomalous identification and processing module (63) export
The mean value of data first-order difference replaces, and carries out integral reduction, the geomagnetic data after obtaining interference separation.
5. indoor positioning terminal according to claim 4, which is characterized in that the intermediate value of the medium filtering module (61) is filtered
Wave window is set as the sampling number of 1~2s, and the threshold value of the anomalous identification and processing module (63) is set as in nearest 1s
The mean value of measurement data first-order difference adds 3 times of standard deviations, and the signal integration recovery module (64) is by the anomalous identification and place
The geomagnetic data of reason module (63) output is replaced with the mean value of the measurement data first-order difference in 1s.
6. indoor positioning terminal according to claim 1, which is characterized in that the visual odometry unit further includes vision
Sensor (7) and visual sensor initial parameter memory module (2 ')；
The visual sensor (7) acquires external image information；
The visual sensor initial parameter memory module (2 ') stores the initial parameter of the visual sensor (7)；
The visual odometry module (8) carries out mileage information according to the image information that the visual sensor (7) measurement obtains
It calculates.
7. indoor positioning terminal according to claim 6, which is characterized in that the visual odometry module (8) includes spy
Levy detection module (81), characteristic matching module (82), demarcating module (83) and coordinate transformation module (84)；
The demarcating module (83) carries out transducer calibration to the image information that the visual sensor (7) exports, and obtains vision
Sensor parameters；
The adjacent two field pictures that the feature detection module (81) collects the visual sensor (7), carry out for
The extraction for the image point feature matched；
The two images that the characteristic matching module (82) uses characteristic matching method to extract the feature detection module (81)
Point feature matched；
The same point matched in two obtained width figures is transformed into world coordinate system and obtains by the coordinate transformation module (84)
Mileage information in the time interval of acquisition two images, continuously measures ambient image, and calculate adjacent two frames figure
As the mileage in time interval, the mileage information that the carrier in a period of time is advanced is obtained.
8. indoor positioning terminal according to claim 1, which is characterized in that the continuous coupling locating module (92) every
Certain setting time carries out a geomagnetic matching positioning, when the continuous coupling locating module (92) is with last matching position
Centered on the position of visual odometry module (8) output, radius scans for positioning in the range of being R, and the radius R is
It is determined in advance according to the position error range of visual odometry, on the basis of being greater than the position error range, by matching phase
It closes algorithm and carries out positioning calculation, and positioning result is output to the wireless transport module (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710744053.8A CN107576325B (en) | 2017-08-25 | 2017-08-25 | A kind of indoor positioning terminal merging visual odometry and Magnetic Sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710744053.8A CN107576325B (en) | 2017-08-25 | 2017-08-25 | A kind of indoor positioning terminal merging visual odometry and Magnetic Sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107576325A CN107576325A (en) | 2018-01-12 |
| CN107576325B true CN107576325B (en) | 2019-10-11 |
Family
ID=61034692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710744053.8A Active CN107576325B (en) | 2017-08-25 | 2017-08-25 | A kind of indoor positioning terminal merging visual odometry and Magnetic Sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107576325B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036802A (en) * | 2018-02-08 | 2018-05-15 | 衢州职业技术学院 | A kind of robot odometer correction system of view-based access control model |
| TWI671740B (en) * | 2018-06-07 | 2019-09-11 | 光禾感知科技股份有限公司 | Indoor positioning system and method based on geomagnetic signals in combination with computer vision |
| CN109029430B (en) * | 2018-09-27 | 2020-10-09 | 北京华航无线电测量研究所 | Consistency judgment method and device based on vehicle-mounted geomagnetic positioning navigation |
| CN109934172B (en) * | 2019-03-14 | 2021-10-15 | 中南大学 | GPS-free full-operation line fault visual detection and positioning method for high-speed train pantograph |
| CN110849349B (en) * | 2019-10-18 | 2023-04-07 | 浙江天尚元科技有限公司 | Fusion positioning method based on magnetic sensor and wheel type odometer |
| CN111698774B (en) * | 2020-06-23 | 2022-07-26 | 北京麦钉艾特科技有限公司 | Indoor positioning method and device based on multi-source information fusion |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102155955A (en) * | 2011-03-11 | 2011-08-17 | 天津理工大学 | Stereoscopic vision mile meter and measuring method |
| KR20130083176A (en) * | 2012-01-12 | 2013-07-22 | 삼성전자주식회사 | Device for estimating stride based on magnetic map and method using the device |
| CN105716604A (en) * | 2016-02-25 | 2016-06-29 | 华南理工大学 | Mobile robot indoor positioning method and system based on geomagnetic sequences |
| CN105919595A (en) * | 2016-05-17 | 2016-09-07 | 浙江大学宁波理工学院 | System and method for tracking miniature device with magnetic signals in body of moving object |
| CN106979778A (en) * | 2016-01-15 | 2017-07-25 | 阿里巴巴集团控股有限公司 | A kind of localization method, device and mobile terminal |
| CN107907134A (en) * | 2017-11-13 | 2018-04-13 | 中国科学院光电研究院 | A kind of mileage information aids in the matched Vehicle positioning system of earth magnetism and method |
-
2017
- 2017-08-25 CN CN201710744053.8A patent/CN107576325B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102155955A (en) * | 2011-03-11 | 2011-08-17 | 天津理工大学 | Stereoscopic vision mile meter and measuring method |
| KR20130083176A (en) * | 2012-01-12 | 2013-07-22 | 삼성전자주식회사 | Device for estimating stride based on magnetic map and method using the device |
| CN106979778A (en) * | 2016-01-15 | 2017-07-25 | 阿里巴巴集团控股有限公司 | A kind of localization method, device and mobile terminal |
| CN105716604A (en) * | 2016-02-25 | 2016-06-29 | 华南理工大学 | Mobile robot indoor positioning method and system based on geomagnetic sequences |
| CN105919595A (en) * | 2016-05-17 | 2016-09-07 | 浙江大学宁波理工学院 | System and method for tracking miniature device with magnetic signals in body of moving object |
| CN107907134A (en) * | 2017-11-13 | 2018-04-13 | 中国科学院光电研究院 | A kind of mileage information aids in the matched Vehicle positioning system of earth magnetism and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107576325A (en) | 2018-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107576325B (en) | A kind of indoor positioning terminal merging visual odometry and Magnetic Sensor | |
| CN102914303B (en) | Navigation information acquisition method and intelligent space system with multiple mobile robots | |
| US10466056B2 (en) | Trajectory matching using ambient signals | |
| KR102110813B1 (en) | SLAM method and apparatus robust to wireless environment change | |
| US9424647B2 (en) | Visual-based inertial navigation | |
| CN104574386B (en) | Indoor positioning method based on three-dimensional environment model matching | |
| CN108107461B (en) | Indoor and outdoor positioning seamless switching method based on mobile terminal | |
| CN100369487C (en) | Object detection device, object detection server, and object detection method | |
| CN109298389A (en) | Indoor pedestrian based on multiparticle group optimization combines position and orientation estimation method | |
| CN105072580A (en) | WIFI (Wireless Fidelity) fingerprint map automatic acquisition system and method based on sweeping robot | |
| CN109357673A (en) | Vision navigation method and device based on image | |
| CN106162144A (en) | A kind of visual pattern processing equipment, system and intelligent machine for overnight sight | |
| CN107421546A (en) | A kind of passive combined positioning method based on space environment magnetic signature | |
| CN106370160A (en) | Robot indoor positioning system and method | |
| Feng et al. | Visual map construction using RGB-D sensors for image-based localization in indoor environments | |
| KR20150042544A (en) | Mobile terminal for providing location information, method and system for measuring the location information | |
| CN114615740A (en) | Indoor personnel positioning method based on Bluetooth, PDR and map matching fusion | |
| CN109753901A (en) | Indoor pedestrian's autonomous tracing in intelligent vehicle, device, computer equipment and storage medium based on pedestrian's identification | |
| CN108932478A (en) | Object positioning method, device and shopping cart based on image | |
| CN114264297A (en) | Positioning and mapping method and system for UWB and visual SLAM fusion algorithm | |
| CN115824230A (en) | Underground unmanned vehicle positioning method based on multi-sensor active fusion | |
| CN109612455A (en) | A kind of indoor orientation method and system | |
| Agrawal et al. | Smart phone based indoor pedestrian localization system | |
| CN114636422A (en) | Positioning and navigation method for information machine room scene | |
| Li et al. | Magnetic Field Positioning Technology of Indoor Sports Bodies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |