CN107958118A - A kind of wireless signal acquiring method based on spatial relationship - Google Patents
A kind of wireless signal acquiring method based on spatial relationship Download PDFInfo
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Abstract
The invention belongs to the wireless signal acquiring method and technology field based on spatial relationship, has and belongs to based on cartographic information matching and the navigation of collection person position, a kind of intelligent acquisition method corrected.Step is corrected including cartography, the design of map road network, capture program design, gathered data, collection person's state analysis, collection.The present invention establishes detailed indoor map road network and outdoor map road network, establishes the real time position of position estimation program tracking collection person.The signal that collection person is collected in gait processes does the mapping with specific location.Collection person after setting starting point, can carry out data acquisition with arbitrary speed, any walking habits, simplify collecting flowchart, improve collecting efficiency and accuracy, reduce the requirement to collection person without prior design route.
Description
Technical Field
The invention belongs to the technical field of wireless signal acquisition methods based on spatial relationships, and particularly relates to an intelligent acquisition method based on map information matching and position navigation and correction of an acquirer.
Background
With the rapid development of wireless communication and integrated circuits, various wireless network technologies are widely applied and infrastructure. Wireless networks were originally designed to solve the communication problems in various environments, and were later applied to the field of positioning, particularly indoor positioning. Detailed knowledge and analysis of the radio signal characteristics distribution, whether communication or positioning, is required. Although the radio signal characteristics can be modeled based on the location of the radio base station and the radio signal attenuation model. However, due to reflection, refraction, diffraction and the like, especially in indoor and building dense areas, the environment is variable, and it is difficult to accurately describe the characteristic distribution of the wireless signal by simply using an attenuation model for simulation. Therefore, in order to more truly know the wireless signal characteristic distribution, the measured data can be collected: the collector designs a collecting route, scans the wireless signal characteristics by using equipment, records the position and establishes a fingerprint database with the position corresponding to the wireless signal characteristics one by one.
There are two main ways of acquisition at present: firstly, an acquirer plans an acquisition route to acquire at an approximately constant speed, so as to calculate an acquisition position corresponding to the wireless signal characteristic based on a starting point, an end point and the constant speed; second, the acquirer plans the acquisition area where data is acquired ad libitum, typically with the location represented by the area's center point. Both of these methods require the collector to plan the collection route or area in advance, which is complicated, especially in a large unfamiliar building, the internal environment is complicated, and a lot of time and energy are consumed in the planning stage.
Disclosure of Invention
The invention relates to a wireless signal acquisition method based on a spatial relationship, which aims to enable an acquirer to freely acquire signals at any speed and in any mode without designing a route in advance, simplify an acquisition process and improve acquisition efficiency and accuracy.
The invention is realized by the following technical scheme:
a wireless signal acquisition method based on spatial relationship is characterized in that: the method comprises the following steps:
1) Map making
Making a map according to an actual scene, wherein the key elements of the map description comprise: the relative position relationship of the building, the barrier, the elevator and the escalator;
2) Collection route planning
Calculating feasible regions and planning a map road network according to the map in the step 1) by considering road connectivity; carrying out topology on a map, and connecting nodes in the map to generate a map road network; wherein the nodes represent significant location points in the environment, the significant location points comprising: corners, doors, elevators, stair lights;
3) Collecting data
Installing a collection program, wherein the collection program comprises: the map in the step 1) is displayed, the map road network in the step 2) is displayed, the collected route is displayed, and data is collected;
starting an acquisition program, and starting data acquisition by an acquirer from a designated starting point on a map in the acquisition program;
4) Estimating collector position
In the process of step 3), collecting sensor data of the equipment in real time, and carrying out mean value filtering processing on the sensor data; calculating the step number and direction of the collector; estimating the current position according to the starting point specified in the step 3) and recording;
5) Collector position correction
In the step 4), along with the change of time, the larger the error generated by the position estimation of the collector is; the error is obtained by matching the estimated position of the collected person with the map information; the collector position correction comprises position correction by turning or road intersection;
6) And mapping the acquired data with the position of an acquirer.
Has the beneficial effects that: 1. the invention establishes a detailed indoor map road network and an outdoor map road network, and establishes a position estimation program to track the real-time position of a collector. And mapping the signals acquired by the acquirer in the walking process with a specific position. And the processing and the collection of data are automatically completed, and convenience is provided for the acquisition of wireless signals in the space. 2. And 4) positioning the acquirer in step 4) by calculating the step number and direction of the acquirer. Therefore, after the collector sets the starting point, the data can be collected at any speed and in any walking habit, the collection flow is simplified, the collection efficiency is improved, and the requirement on the collector is reduced. 3. The position correction module monitors the position displayed by the collector in the map in real time and judges whether the behavior made by the collector in real time is matched with the displayed position or not so as to judge the accuracy of the position. The effect of correcting the position in time is achieved, and the acquisition route is more accurate to position.
In a preferred embodiment of the present invention, step 1) comprises the steps of:
1a) Obtaining a CAD graph of a building from an operator, and collecting detailed information inside the building;
1b) Modeling the obtained CAD graph, filling in the internal information of the building, and generating a map file;
1c) And c, according to the map file generated in the step b, generating the geographical position information of the building map by mapping according to the corresponding position of the building in the geographical coordinate system.
Has the advantages that: according to the scheme, the CAD graph of the building is used as a reference, the positions and the contents of different facilities such as an elevator, a stair, a door, a room and the like are collected and are in one-to-one correspondence with the CAD graph, the internal information of the building is enriched, and the local position relation among the different facilities in the building is established. Meanwhile, a GPS technology or other data sources are adopted outside the building to obtain the position of the building outline in a geographic coordinate system, the internal local position is mapped into the geographic coordinate system, and the coordinate systems of the indoor map and the outdoor map are unified.
In a preferred embodiment of the present invention, the step 5) comprises the steps of:
5a) At arbitrary time intervals T 0 Reading sensor information in real time to obtain three-axis acceleration (f) 0x ,f 0y ,f 0z ) Three-axis angular velocity (ω) 0x ,ω 0y ,ω 0z ) And three-axis magnetic field strength(B 0x ,B 0y ,B 0z )；
5b) Processing the data in the step a by adopting a mean filtering mode, reducing noise and obtaining the triaxial acceleration (f) of the sampling interval T x ,f y ,f z ) Three-axis angular velocity (ω) x ,ω y ,ω z ) Triaxial magnetic field strength (B) x ,B y ,B z )；
Step counting detection is carried out, and the step number Ns of the user is obtained;
setting a step length l;
calculating the direction, calculating a pitch angle theta and a roll angle phi according to the attitude calculation module, and obtaining the magnetic field intensity H of the horizontal plane x And H y Comprises the following steps:
H x ＝B x ·cosθ+B z ·sinθ
H y ＝B x ·sinθ·sinφ+B y ·cosφ-B z ·cosθ·sinφ
the direction ψ calculated from the magnetic field is:
5b) Dead reckoning based on the position (x) of the previous time last ,y last ) The position (x) at the next time is estimated dr ,y dr )
x dr ＝x last +N s ·l·sinΨ
y dr ＝y last +N s ·l·cosΨ
5c) Turn detection when the user is in time period t- Δ t, t]And [ t, t + Δ t]Is greater than a threshold value alpha the And the number of steps in both time periods is greater than the threshold value N the And the time t is the turning time.
Has the beneficial effects that: according to the scheme, the average filtering is adopted to carry out data preprocessing on the sensor, so that the noise is reduced, and meanwhile, the data frequency is unified. The step counting detection, the step length calculation and the direction calculation are carried out on the user, so that the track of the user is calculated, the turning state of the user is detected, the behavior state of the user is described, and a basis are provided for the subsequent position correction.
In a preferable aspect of the present invention, the step 4) includes detecting a road on which the collector is located, and includes the following steps:
6a) Establishing cache data DataSheet comprising time t, wireless signal characteristics P and step number N s The walking distance S of the collector, and the starting point (x) of the road where the current collector is located start ,y start )；
6b) The collector starts to collect data, and the position (x) of the collector is obtained by dead reckoning the collector based on the position of the collector output by the system at the last moment by utilizing the step 5) dr ,y dr ) Updating the walking distance S of the collector;
6c) If the current collector is positioned in step 2) which road in the road network is unknown, calculating the position (x) of the collector dr ,y dr ) The shortest distance between the nearest point and all roads is the road where the collector is located; if known, calculating the position (x) of the collector in step c dr ,y dr ) At the closest point (x) of the road proj ,y proj ) And the closest point (x) proj ,y proj ) As the current collector position;
has the advantages that: and calculating the position of the current moment of the acquirer according to the sensor data by using the position of the acquirer output by the system at the previous moment. Meanwhile, the actual position of the collector is only possible to be in the assumed and physical reality of the road, and the road network information is combined to determine which road the collector is in firstly and map the position to the road, so that the position error of the collector is reduced, and the situation that the collector is in a physically infeasible area such as a hollow part, a door and a column is avoided.
In a preferable aspect of the present invention, the step 5) includes performing position correction using a road intersection, and includes the steps of:
according to the determined road and walking direction of the collector, searching the nearest road intersection (x) according to the map cross ,y cross ) (ii) a Based on the estimated current position (x) proj ,y proj ) And whether the collector turns or not, and correcting the position:
i when (x) proj ,y proj )、(x cross ,y cross ) When the distance is less than 1m, the road section is ended; the end point is a road intersection (x) cross ,y cross ) Position of collector (x) output by the system end ,y end ) Is a road intersection (x) cross ,y cross )；
II when detecting the current time t new When the user turns, the road section is finished, and the end point is a road intersection (x) cross ,y cross ) Location of the collector (x) output by the system end ,y end ) Is a road intersection (x) cross ,y cross )；
III when the walking distance S of the collector is greater than the threshold S the In the meantime, the intersection is still not encountered, and the collector needs to be prompted to click the current position (x) on the map end ,y end ) The road segment ends and the end point is the current position (x) end ,y end ) At the current time t now Is t end Location of the collector (x) output by the system end ,y end )；S the In the range [150m,200m]Taking values within a range;
v if the three conditions are not met, the collector does not reach the road intersection yet, and the position of the collector output by the system at the current moment is (x) proj ,y proj ) The collected route is updated on the map of the collection program and is the collected route.
Has the beneficial effects that: at a road intersection, the collector can have behaviors such as straight running or turning, so that the behavior state of the collector is detected, and when the collector has behaviors such as straight running or turning, the position of the collector output by the system is corrected by combining the map road intersection information. Meanwhile, due to the limitation of the precision of the sensor, when the vehicle travels for a long distance, the error of position calculation is larger and larger only by the sensor, so that a collector is prompted to correct the position under the condition, and the system can continuously and stably operate.
In a preferred embodiment of the present invention, the step 6) of acquiring the data and the mapping of the corresponding positions includes the following steps:
for a time period t start ,t end ]Wireless signal data { P 1 ，P 2 ，…P m M is the number of data, and the starting point of the position is (x) start ,y start ) And end point (x) end ,y end ) The number of the step of the collector is { N s1 ,N s2 ,…,N sm And the position (X, Y) corresponding to each wireless signal data is:
has the advantages that: the radio signal data should correspond exactly one to one with the actual position. In the method adopted in the prior art, the position of the starting point is linearly processed according to the acquisition time and is corresponding to the wireless signal data, namely, an acquirer is required to walk at a constant speed as far as possible. However, in actual work, particularly when the measurement time is long, it is difficult for the collector to keep walking at a constant speed for a long time. When the speed of the collector changes greatly or stops midway, the collected data cannot be matched with the actual situation, and the data needs to be collected again. The scheme utilizes the step number of the collector to carry out linear processing on the position of the starting point, the collector can stop at any speed or stop at any time, and the actual position of the wireless signal data can be accurately calculated according to the position of the starting point and the step number as long as the data collection is finished by the action of walking. According to the scheme, the factors of the collector are eliminated, the influence of uncontrollable factors on collection is reduced, and the collection result is more accurate. And simultaneously, the requirements on an acquirer are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of the present invention;
fig. 2 is a schematic diagram of the change of motion acceleration in the walking process.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. The following is further detailed by the specific embodiments:
fig. 1 shows an infinite signal acquisition method based on spatial relationship, which is an intelligent acquisition method based on map information matching and inertial navigation. The method mainly comprises the steps of map making, map road network design, program design acquisition, data acquisition, state analysis of an acquirer and acquisition correction.
1. Map making
And (4) making a map according to the actual scene, and describing the relative position relation of facilities such as various buildings, obstacles, elevators, escalators and the like. The drawing process is as follows:
a. the CAD graph of the building is obtained from an operator, and the detailed information in the building, such as obstacles, elevators and the like, is collected.
b. Modeling the obtained CAD graph, filling in the internal information of the building, and generating a map file.
c. And c, according to the map file generated in the step b, mapping to generate the geographical position information of the building map by contrasting the corresponding position of the building in the geographical coordinate system.
2. Map road network design
And (4) calculating feasible areas and planning a map road network according to the map in the step (1) by considering road connectivity. And carrying out topology on the map, and connecting the nodes in the map to generate a map network. Where nodes represent points of interest in the environment (corners, doors, elevators, stairway lights) and edges represent connections between nodes, such as corridors and the like.
3. Collecting data
Collecting program design: and installing an acquisition program on the intelligent equipment, wherein the acquisition program comprises the functions of displaying a map, displaying a target acquisition route, displaying the acquired route, acquiring data and the like.
After the steps 1, 2 and 3 are completed, the acquirer starts an acquisition program on the intelligent device, specifies a starting point on a map in the acquisition program, and starts to acquire data when standing at the starting point.
4. Collector state analysis
A. At an arbitrary time interval T 0 Reading sensor information in real time to obtain three-axis acceleration (f) 0x ,f 0y ,f 0z ) Triaxial angular velocity (omega) 0x ,ω 0y ,ω 0z ) And three-axis magnetic field strength (B) 0x ,B 0y ,B 0z ) In units of m/s in sequence 2 、deg/s、Gauss；
B. Processing the data in the step a by adopting a mean filtering mode, reducing noise and obtaining the triaxial acceleration (f) of the sampling interval T x ,f y ,f z ) Three-axis angular velocity (ω) x ,ω y ,ω z ) Triaxial magnetic field strength (B) x ,B y ,B z )；
T＝N·T 0
C. And step counting detection, namely detecting the starting step and the falling step to obtain the step number Ns of the user.
As shown in fig. 2: the user is accelerated and then decelerated in the process of starting to land. f. of motion Is the user's acceleration of motion, t 1 At the moment the user starts to accelerate, t 2 Reaches the maximum acceleration f at the moment max1 ，t 3 At the moment the acceleration process ends, the deceleration begins, t 4 Reaching the maximum acceleration f of the deceleration process at all times max2 ，t 5 And the user lands at all times.
The walking state of the user can be detected by the acceleration of the movement of the device. The method comprises the following specific steps:
a. acceleration of user movement f motion The calculating method comprises the following steps:
b. judging the motion acceleration f of the current time t in the step a motion (t) is zero, i.e.:
|f motion (t)|<0.001
c. if the motion acceleration f of the current time t in the step b motion (t) is not a zero point, then the time is not t 1 Starting, t 3 、t 5 Landing state, finishing walking state detection;
d. if the motion acceleration at the current moment t is a zero point, if the motion acceleration at the previous moment is greater than 0, the current moment is t 3 State, walking state detection is finished; if the motion acceleration at the previous moment is less than 0, the current moment is t 5 Landing state, and sequentially searching for t at previous time 4 、t 3 、t 2 、t 1 E, entering the state into step e;
e. if t is absent in the search process of step d 1 、t 2 、t 3 、t 4 、t 5 If the walking state is detected in one or more states, the walking state detection is finished; otherwise, go to step f.
f. When the following conditions on the walking time and the motion acceleration are satisfied, it is judged that the user has completed a complete step. Wherein Δ t, f the1 And f the2 The experience value can be set according to user habits and actual scenes;
|t 5 -t 1 |>Δt
|f max1 |>f the1
|f max2 |>f the2
D. calculating the step length, wherein the step length is a parameter which is difficult to determine in the state of the collector, and is different from person to person, time to time and place to place, and setting a numerical value according to specific conditions. The default setting step size is 0.5m.
a. Calculating the direction, calculating a pitch angle theta and a roll angle phi according to the attitude calculation module, and determining the magnetic field intensity H of the horizontal plane x And H y Comprises the following steps:
H x ＝B x ·cosθ+B z ·sinθ
H y ＝B x ·sinθ·sinφ+B y ·cosφ-B z ·cosθ·sinφ
the direction ψ calculated from the magnetic field is:
b. and (6) dead reckoning. Based on the position (x) at the last moment last ,y last ) The position (x) at the next time can be estimated dr ,y dr )。
x dr ＝x last +N s ·l·sinΨ
y dr ＝y last +N s ·l·cosΨ
c. And (5) detecting a turn. When the user is in the time period t-delta t, t]And [ t, t + Δ t]Is greater than a threshold value alpha the And the number of steps in both time periods is greater than the threshold value N the And the time t is the turning time.
5. Collection correction
Because step counting detection, step length and direction all can have errors, the dead reckoning error of the collector can be accumulated more and more along with time, meanwhile, a map also has certain errors, and errors can occur in the dead reckoning of the collector and the map information matching inevitably. Therefore, the collector needs to be prompted to confirm the information according to actual conditions.
A. Establishing cache data DataShet, including time t, wireless signal characteristics P and step number N s The walking distance S of the collector, and the starting point (x) of the road where the current collector is located start ,y start )；
B. After the acquisition starting point is set, the acquirer starts to acquire data, and the time is t start The starting point is an initial position (x) start ,y start )；
C. The position of the collector based on the system output at the previous moment (initial position (x) for the first time) start ,y start ) Carrying out dead reckoning on the position of the collector by utilizing the step 5 to obtain the position (x) of the collector dr ,y dr ) And updating the walking distance S, S of the collector last The walking distance of the collector at the previous moment;
S＝S last +N s ·l
D. if the road in the road network of the step 2 of the current collector is unknown, calculating the position (x) of the collector dr ,y dr ) And the closest point and distance to all roads, wherein the distance is the road where the collector is located at the minimum. For any road in the step 2 road network { (x) i ，y i )，(x j ，y j )},(x dr ,y dr ) At the closest point (x) of the road proj_ij ,y proj_ij ) And distance dist proj_ij
If known, calculating the position (x) of the collector in step c dr ,y dr ) At the closest point (x) of the road proj ,y proj )。
E. According to the road and the walking direction of the collector determined in the step c, searching the nearest road intersection (x) according to the map cross ,y cross ). According to step d of (x) proj ,y proj )、(x cross ,y cross ) And whether the collector turns or not, and correcting the position:
a. when (x) proj ,y proj )、(x cross ,y cross ) Is less than Δ dist the When the road section ends, the end point is the intersection (x) cross ,y cross ) At the current time t now Is t end Position of collector (x) output by the system end ,y end ) Is a road intersection (x) cross ,y cross )。Δdist the In the range of [0.1m,1m]An internal value.
b. When step 5 detects the current time t new When the user turns, the road section is finished, and the end point is a road intersection (x) cross ,y cross ) And t is new Δ t is t end Position of the collector (x) output by the system end ,y end ) For road crossings (x) cross ,y cross )。
c. When the walking distance S of the collector is greater than the threshold S the In the meantime, the intersection is still not met, and the collector needs to be prompted to click the current position (x) on the map end ,y end ) The road segment ends and the end point is the current position (x) end ,y end ) At the present time t now Is t end Location of the collector (x) output by the system end ,y end )。S the In the range [150m,200m]The value within the range.
d. If the three conditions are not met, the collector does not reach the intersection yet, and the position of the collector output by the system at the current moment is (x) proj ,y proj ) The collected route is updated on the map of the collection program and is the collected route. And skipping to the step c to continue the detection of the next moment.
F. For a time period t start ,t end ]Wireless signal data { P 1 ，P 2 ，…P m M is the number of data, and the starting point of the position is (x) start ,y start ) And end point (x) end ,y end ) The number of the collector steps is { N s1 ,N s2 ,…,N sm And the position (X, Y) corresponding to each wireless signal data is:
G. and updating the cached data DataSheet. Store only [ t end ,t now ]Data over a period of time. The collected routes and the non-collected routes are updated on the map of the collection program. With t end Is t in step b start ，(x end ,y end ) As an initial position, S now -S end The walking distance is the user. And restarting data acquisition of the next road from the step b.
The collected data can be repeatedly acquired by adopting a repeated path, the repeated data is processed, and if the similarity between the repeated data is low, the repeated data is removed and is subjected to interpolation supplementation; if the similarity is higher, cumulative averaging is performed.
The wireless signal data should correspond exactly one to one with the actual location to be meaningful. In the prior art, the position of a starting point is linearly processed according to acquisition time and corresponds to wireless signal data, namely, an acquirer is required to walk at a constant speed as much as possible. When the speed of the collector is changed greatly or stops halfway, the collection of the data is required to be restarted. The invention establishes a detailed indoor map road network and an outdoor map road network, and establishes a position estimation program to track the real-time position of a collector. And mapping the signals acquired by the acquirer in the walking process with a specific position. The invention utilizes the step number of the collector to carry out linear processing on the position of the starting point, the collector stops at any speed or walks, and the actual position of the wireless signal data can be accurately calculated according to the position of the starting point and the step number as long as the data collection is finished by the walking action, thereby simplifying the collection process, improving the collection efficiency and reducing the requirements on the collector.
The above-mentioned embodiments are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications, substitutions and improvements within the technical scope of the present invention, and these modifications, substitutions and improvements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A wireless signal acquisition method based on spatial relationship is characterized in that: the method comprises the following steps:
1) Map making
Making a map according to an actual scene, wherein the key elements of the map description comprise: the relative position relationship of the building, the barrier, the elevator and the escalator;
2) Collection route planning
Calculating feasible regions and planning a map road network according to the map in the step 1) by considering road connectivity; carrying out topology on a map, and connecting nodes in the map to generate a map road network; wherein the nodes represent significant location points in the environment, the significant location points comprising: corners, doors, elevators, stair lights;
3) Collecting data
Installing a collection program, wherein the collection program comprises: the functions of displaying the map in the step 1), displaying the map road network in the step 2), displaying the collected route and collecting data are realized;
starting an acquisition program, and starting data acquisition by an acquirer from a designated starting point on a map in the acquisition program;
4) Estimating collector position
In the process of step 3), collecting sensor data of the equipment in real time, and carrying out mean value filtering processing on the sensor data; calculating the step number and direction of the collector; estimating the current position according to the starting point specified in the step 3) and recording;
5) Collector position correction
In the step 4), along with the change of time, the larger the error generated by the position estimation of the collector is; the error is obtained by matching the estimated position of the collected person with the map information; the collector position correction comprises position correction by turning or road intersection;
6) And mapping the acquired data with the position of an acquirer.
2. The method of claim 1, wherein the method further comprises: the step 1) comprises the following steps:
1a) Obtaining a CAD (computer-aided design) drawing of a building from an operator, and collecting detailed information inside the building;
1b) Modeling the obtained CAD graph, filling in the internal information of the building, and generating a map file;
1c) And c, according to the map file generated in the step b, generating the geographical position information of the building map by mapping according to the corresponding position of the building in the geographical coordinate system.
3. The method of claim 1 or 2, wherein the method comprises: the step 5) comprises the following steps:
5a) At arbitrary time intervals T 0 Reading sensor information in real time to obtain three-axis acceleration (f) 0x ,f 0y ,f 0z ) Three-axis angular velocity (ω) 0x ,ω 0y ,ω 0z ) And three-axis magnetic field strength (B) 0x ,B 0y ,B 0z )；
5b) Processing the data in the step a by adopting a mean filtering mode, reducing noise and obtaining the triaxial acceleration (f) of the sampling interval T x ,f y ,f z ) Three-axis angular velocity (ω) x ,ω y ,ω z ) Triaxial magnetic field strength (B) x ,B y ,B z )；
Step counting detection is carried out, and the step number Ns of the user is obtained;
setting a step length l;
calculating the direction, calculating a pitch angle theta and a roll angle phi according to the attitude calculation module, and determining the magnetic field intensity H of the horizontal plane x And H y Comprises the following steps:
H x ＝B x ·cosθ+B z ·sinθ
H y ＝B x ·sinθ·sinφ+B y ·cosφ-B z ·cosθ·sinφ
the direction ψ calculated from the magnetic field is:
5b) Dead reckoning based on the position (x) of the previous time last ,y last ) The position (x) at the next time is estimated dr ,y dr )
x dr ＝x last +N s ·l·sinΨ
y dr ＝y last +N s ·l·cosΨ
5c) Turn detection when the user is in time period t- Δ t, t]And [ t, t + Δ t]Is greater than a threshold value alpha the And the number of steps in both time periods is greater than the threshold value N the And the time t is the turning time.
4. The method of claim 3, wherein the spatial relationship is based on a spatial relationship between the wireless signal acquisition device and the wireless signal acquisition device: the step 4) comprises the step of detecting the road where the collector is located, and comprises the following steps:
6a) Establishing cache data DataSheet comprising time t, wireless signal characteristics P and step number N s The walking distance S of the collector, and the starting point (x) of the road where the current collector is located start ,y start )；
6b) The collector starts to collect data, and the position (x) of the collector is obtained by dead reckoning the collector based on the position of the collector output by the system at the last moment by utilizing the step 5) dr ,y dr ) Updating the walking distance S of the collector;
6c) If the current collector is in the step 2) which road in the road network is unknown, calculating the position (x) of the collector dr ,y dr ) The shortest distance between the nearest point and all roads is the road where the collector is located;
6d) Calculating the collector position (x) dr ,y dr ) At the closest point (x) of the road proj ,y proj ) And the closest point (x) proj ,y proj ) As the current collector position.
5. The method of claim 4, wherein the method further comprises: the step 5) comprises the following steps:
according to the determined road and walking direction of the collector, searching the nearest road intersection (x) according to the map cross ,y cross ) (ii) a Based on the estimated current position (x) proj ,y proj ) And whether the collector turns or not, and correcting the position:
i when (x) proj ,y proj )、(x cross ,y cross ) When the distance is less than 1m, the road section is ended; the end point is a road intersection (x) cross ,y cross ) Position of collector (x) output by the system end ,y end ) Is a road intersection (x) cross ,y cross )；
II when detecting the current time t new When the user turns, the road section is finished, and the end point is a road intersection (x) cross ,y cross ) Location of the collector output by the system (x end ,y end ) For road crossings (x) cross ,y cross )；
III when the walking distance S of the collector is greater than the threshold S the In the meantime, the intersection is still not met, and the collector needs to be prompted to click the current position (x) on the map end ,y end ) The road segment ends and the end point is the current position (x) end ,y end ) At the current time t now Is t end Position of the collector (x) output by the system end ,y end )；S the In the range [150m,200m]Taking values within a range;
if the three conditions are not met, the collector does not reach the road intersection, and the position of the collector output by the system at the current moment is (x) proj ,y proj ) The collected route is updated on the map of the collection program and is the collected route.
6. The method of claim 5, wherein the method further comprises: the step 6) comprises the following steps:
for a time period t start ,t end ]Wireless signal data { P 1 ，P 2 ，…P m M is the number of data, and the starting point of the position is (x) start ,y start ) And end point (x) end ,y end ) The number of the collector steps is { N s1 ,N s2 ,…,N sm And then, the corresponding position (X, Y) of each wireless signal data is:
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