CN107635204B - 一种运动行为辅助的室内融合定位方法及装置、存储介质 - Google Patents

一种运动行为辅助的室内融合定位方法及装置、存储介质 Download PDF

Info

Publication number
CN107635204B
CN107635204B CN201710891775.6A CN201710891775A CN107635204B CN 107635204 B CN107635204 B CN 107635204B CN 201710891775 A CN201710891775 A CN 201710891775A CN 107635204 B CN107635204 B CN 107635204B
Authority
CN
China
Prior art keywords
data
pedestrian
indoor
positioning
formula
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
Application number
CN201710891775.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN107635204A (zh
Inventor
周宝定
李清泉
朱家松
涂伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Zhiyuan space Innovation Technology Co.,Ltd.
Original Assignee
Shenzhen University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen University filed Critical Shenzhen University
Priority to CN201710891775.6A priority Critical patent/CN107635204B/zh
Priority to PCT/CN2018/072114 priority patent/WO2019061949A1/fr
Publication of CN107635204A publication Critical patent/CN107635204A/zh
Application granted granted Critical
Publication of CN107635204B publication Critical patent/CN107635204B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
CN201710891775.6A 2017-09-27 2017-09-27 一种运动行为辅助的室内融合定位方法及装置、存储介质 Active CN107635204B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201710891775.6A CN107635204B (zh) 2017-09-27 2017-09-27 一种运动行为辅助的室内融合定位方法及装置、存储介质
PCT/CN2018/072114 WO2019061949A1 (fr) 2017-09-27 2018-01-10 Procédé et appareil de positionnement avec fusion en intérieur assistée par un comportement de mouvement et support de stockage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710891775.6A CN107635204B (zh) 2017-09-27 2017-09-27 一种运动行为辅助的室内融合定位方法及装置、存储介质

Publications (2)

Publication Number Publication Date
CN107635204A CN107635204A (zh) 2018-01-26
CN107635204B true CN107635204B (zh) 2020-07-28

Family

ID=61104098

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710891775.6A Active CN107635204B (zh) 2017-09-27 2017-09-27 一种运动行为辅助的室内融合定位方法及装置、存储介质

Country Status (2)

Country Link
CN (1) CN107635204B (fr)
WO (1) WO2019061949A1 (fr)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108322889A (zh) * 2018-02-01 2018-07-24 深圳市交投科技有限公司 一种多源数据融合室内定位的方法、存储介质及智能终端
CN108362289B (zh) * 2018-02-08 2020-12-08 浙江大学城市学院 一种基于多传感器融合的移动智能终端pdr定位方法
CN108426582B (zh) * 2018-03-03 2021-07-30 北京工业大学 行人室内三维地图匹配方法
CN109218983B (zh) * 2018-06-28 2020-09-18 中国人民解放军国防科技大学 一种定位方法及定位系统
CN109029429B (zh) * 2018-09-04 2022-02-11 电子科技大学 基于WiFi和地磁指纹的多分类器全局动态融合定位方法
CN111561921B (zh) * 2019-02-14 2022-05-10 华为技术有限公司 定位方法及装置
CN109781094A (zh) * 2018-12-24 2019-05-21 上海交通大学 基于循环神经网络的地磁定位系统
CN109945865B (zh) * 2019-02-25 2023-02-28 天津大学 基于WiFi与地磁融合的室内定位方法
CN110082716B (zh) * 2019-04-29 2023-07-11 徐州医科大学 一种医院复杂环境室内定位系统及定位方法
CN110619662B (zh) * 2019-05-23 2023-01-03 深圳大学 一种基于单目视觉的多行人目标空间连续定位方法及系统
CN110322067A (zh) * 2019-07-03 2019-10-11 中山大学 基于因子图模型的移动用户位置预测方法
CN111025269B (zh) * 2019-12-19 2022-11-15 哈尔滨工程大学 一种水下机器人传感器安装偏差估计方法
US11009583B1 (en) 2019-12-23 2021-05-18 At&T Intellectual Property I, L.P. Refining and selecting timing data to increase accuracy of timing-based location for user equipment
US11743678B2 (en) * 2020-08-24 2023-08-29 The Hong Kong University Of Science And Technology Generic signal fusion framework for multi-modal localization
CN113358117B (zh) * 2021-03-09 2023-05-26 北京工业大学 一种利用地图的视觉惯性室内定位方法
CN113114850B (zh) * 2021-03-18 2021-09-21 电子科技大学 一种基于监控视频和pdr在线融合定位方法
CN112985392B (zh) * 2021-04-19 2021-07-30 中国人民解放军国防科技大学 基于图优化框架的行人惯性导航方法和装置
CN114048333B (zh) * 2021-11-05 2024-06-04 深圳职业技术学院 一种多源融合语音交互式室内定位方法、终端及存储介质

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105910601A (zh) * 2016-05-31 2016-08-31 天津大学 一种基于隐马尔科夫模型的室内地磁定位方法
CN106054125A (zh) * 2016-05-05 2016-10-26 南京邮电大学 一种基于线性链条件随机场的融合室内定位方法
CN106123897A (zh) * 2016-06-14 2016-11-16 中山大学 基于多特征的室内融合定位方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101730269B1 (ko) * 2015-12-09 2017-04-27 성균관대학교산학협력단 실내 디바이스 위치를 추정하는 방법

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106054125A (zh) * 2016-05-05 2016-10-26 南京邮电大学 一种基于线性链条件随机场的融合室内定位方法
CN105910601A (zh) * 2016-05-31 2016-08-31 天津大学 一种基于隐马尔科夫模型的室内地磁定位方法
CN106123897A (zh) * 2016-06-14 2016-11-16 中山大学 基于多特征的室内融合定位方法

Also Published As

Publication number Publication date
WO2019061949A1 (fr) 2019-04-04
CN107635204A (zh) 2018-01-26

Similar Documents

Publication Publication Date Title
CN107635204B (zh) 一种运动行为辅助的室内融合定位方法及装置、存储介质
Gu et al. Accurate step length estimation for pedestrian dead reckoning localization using stacked autoencoders
Liu et al. Collaborative SLAM based on WiFi fingerprint similarity and motion information
CN108632761B (zh) 一种基于粒子滤波算法的室内定位方法
CN106714110B (zh) 一种Wi-Fi位置指纹地图自动构建方法及系统
Chen et al. A data-driven inertial navigation/Bluetooth fusion algorithm for indoor localization
Ferris et al. Wifi-slam using gaussian process latent variable models.
WO2018018994A1 (fr) Procédé et système de positionnement en intérieur
WO2012035707A1 (fr) Dispositif et procédé de génération de carte, procédé de déplacement d'un corps mobile et dispositif robot
Wang et al. Personalized stride-length estimation based on active online learning
CN111595344B (zh) 一种基于地图信息辅助的多姿态下行人行位推算方法
Wu et al. Indoor positioning based on walking-surveyed Wi-Fi fingerprint and corner reference trajectory-geomagnetic database
Wang et al. Pedestrian heading estimation based on spatial transformer networks and hierarchical LSTM
WO2016016731A2 (fr) Procédé et appareil permettant de catégoriser un cas d'utilisation d'un dispositif
Sun et al. Indoor localization using mind evolutionary algorithm-based geomagnetic positioning and smartphone IMU sensors
Yang et al. Symmetrical-Net: Adaptive zero velocity detection for ZUPT-aided pedestrian navigation system
CN106028450B (zh) 室内定位方法及设备
Ding et al. OGI-SLAM2: A hybrid map SLAM framework grounded in inertial-based SLAM
Yu et al. Neural networks-based Wi-Fi/PDR indoor navigation fusion methods
US10551195B2 (en) Portable device with improved sensor position change detection
He et al. WiFi based indoor localization with adaptive motion model using smartphone motion sensors
CA2894863A1 (fr) Localisation interieure au moyen de donnees provenant de foule
CN108322889A (zh) 一种多源数据融合室内定位的方法、存储介质及智能终端
CN108051001A (zh) 一种机器人移动控制方法、系统及惯性传感控制装置
TWI812053B (zh) 定位方法、電子設備及電腦可讀儲存媒體

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
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20220208

Address after: 518000 301-l016, block 4, manjinghua Yiluan building, No. 230, Xixiang Avenue, Longteng community, Xixiang street, Bao'an District, Shenzhen, Guangdong

Patentee after: Shenzhen Zhiyuan space Innovation Technology Co.,Ltd.

Address before: 518060, Shenzhen University, 3688 Nanhai Avenue, Guangdong, Shenzhen, Nanshan District

Patentee before: SHENZHEN University