CN108917760B - Magnetic field correction-based pedestrian dead reckoning course angle correction method - Google Patents

Magnetic field correction-based pedestrian dead reckoning course angle correction method Download PDF

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CN108917760B
CN108917760B CN201810380937.4A CN201810380937A CN108917760B CN 108917760 B CN108917760 B CN 108917760B CN 201810380937 A CN201810380937 A CN 201810380937A CN 108917760 B CN108917760 B CN 108917760B
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magnetic field
field correction
course angle
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phi
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廖学文
田馨元
李乔
王梦迪
齐以星
高贞贞
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Xian Jiaotong University
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    • 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
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Abstract

The invention discloses a pedestrian dead reckoning course angle correction method based on magnetic field correction, which can realize accurate positioning and navigation of an indoor positioning terminal and comprises the following steps of: 1) dividing a test area according to the magnetic field distortion condition in the test environment, and setting magnetic field correction points in each divided area; 2) acquiring an original measured value of a course angle at the magnetic field correction point in the step 1) by using a terminal, and then taking the acquired original measured value of the course angle as a magnetic field correction coefficient; 3) training the magnetic field correction coefficient corresponding to each magnetic field correction point obtained in the step 2) by using a least square method to obtain a trained magnetic field correction coefficient; 4) and the user-held terminal judges the area where the user-held terminal is located in real time in the advancing process, and corrects the course angle original measurement value acquired by the terminal by using the trained magnetic field correction coefficient corresponding to the area to finish the pedestrian dead reckoning course angle correction based on the magnetic field correction.

Description

Magnetic field correction-based pedestrian dead reckoning course angle correction method
Technical Field
The invention belongs to the field of sensors and indoor positioning and navigation, and relates to a pedestrian dead reckoning course angle correction method based on magnetic field correction.
Background
The indoor navigation method based on Pedestrian Dead Reckoning (PDR) is rapidly developed due to the gradual maturity of sensor and intelligent terminal technologies. The PDR navigation method has the advantages that a user can realize positioning only by using an intelligent terminal, and the limitation of additional hardware deployment and a client-server communication mode is eliminated. The PDR navigation method can respectively acquire the user advancing direction, namely the course angle and the walking step number by utilizing a magnetometer and an accelerometer which are arranged in the terminal, and can pass x under the condition of assuming that the user step size is certaink+1＝xk+dk×cosφk，yk+1＝yk+dk·sinφkTo calculate user position information; wherein (x)k+1,yk+1) Indicates the position of the pedestrian at the next moment, (x)k,yk) Indicating the position of the pedestrian at the present time, dkFor step length of walking, phikIs the heading angle.
In the indoor navigation method based on the PDR, a course angle is a key parameter for determining whether a navigation track is accurate or not. In the prior art, a terminal built-in magnetometer is generally directly used or other sensors such as a gyroscope are used for acquiring a heading angle, but the method does not consider the problem that the acquired heading angle is inaccurate due to the deviation of indoor environment magnetic field distortion on magnetometer readings.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a magnetic field correction-based pedestrian dead reckoning course angle correction method, which can realize accurate positioning and navigation of an indoor positioning terminal.
In order to achieve the purpose, the method for correcting the dead reckoning course angle of the pedestrian based on the magnetic field correction comprises the following steps of:
1) dividing a test area according to the magnetic field distortion condition in the test environment, and setting magnetic field correction points in each divided area;
2) acquiring an original measurement value of a course angle at each magnetic field correction point in the step 1) by using a terminal;
3) training the course angle original measured values acquired at the magnetic field correction points obtained in the step 2) by using a least square method to obtain corresponding magnetic field correction coefficients at the magnetic field correction points;
4) and the user-held terminal judges the area where the user-held terminal is located in real time in the advancing process, and corrects the course angle original measurement value acquired by the terminal by using the trained magnetic field correction coefficient corresponding to the area to finish the pedestrian dead reckoning course angle correction based on the magnetic field correction.
The setting process of the magnetic field correction points in the step 1) is as follows:
setting a plurality of straight walking paths in a test area, enabling a user to hold a terminal to advance along the walking paths and continuously acquire original measured values of course angles, and recording original measured values phi of the course angles in different areas and real values phi of the course angles in the areas1The difference between delta phi and phi-phi1And taking the difference delta phi as a magnetic field distortion characteristic, and then setting different magnetic field correction points in regions with different magnetic field distortion characteristics, wherein one magnetic field correction point is set in each region with the same magnetic field distortion characteristic.
The specific operation of acquiring the original measured value of the course angle by using the terminal at the magnetic field correction point in the step 1) in the step 2) is as follows:
n different directions are arranged on a horizontal plane at the magnetic field correction point at equal intervals, and then course angle original measurement values in the N directions are respectively collected through a terminal, and simultaneously, real values of course angles in all directions are recorded.
The specific operation of the step 3) is as follows:
calculating the difference delta phi between the original measured value of the course angle obtained by collection and the true value thereof, wherein,
Δφ＝φ-φ1＝A+B sinφ+C cosφ+D sin(2φ)+E cos(2φ) (1)
where φ is the original measurement of the heading angle, φ1The real value of the course angle is A, B, C, D and E are the magnetic field correction coefficient;
establishing an equation shown in the formula (2):
Figure BDA0001641102080000031
wherein phi isiIs the raw measurement value of course angle phi in the ith directioni' is the true value of the heading angle of the ith direction.
Magnetic field correction factor A, B, C, D, E]optComprises the following steps:
Figure BDA0001641102080000032
wherein, isi＝A+B sinφi+C cosφi+D sin(2φi)+E cos(2φi)，Δφi'＝φi-φi'。
The specific operation of correcting the course angle original measurement value acquired by the terminal by using the trained magnetic field correction coefficient corresponding to the area in the step 4) is as follows:
judging the area m of the terminal by using the PDR navigation track, and correcting the course angle phi after the magnetic fieldm calComprises the following steps:
φm cal＝φm ori-(Am+Bmsinφm ori+Cmcosφm ori+Dmsin(2φm ori)+Emcos(2φm ori)) (4)
wherein phi ism oriFor raw course angle measurements obtained in the area m, Am～EmThe magnetic field correction coefficient corresponding to the region m.
N is greater than or equal to 5.
The invention has the following beneficial effects:
the pedestrian dead reckoning course angle correcting method based on magnetic field correction sets magnetic field correction points firstly during specific operation, then collects course angle original measured values at the magnetic field correction points as magnetic field correction coefficients, trains the magnetic field correction coefficients, and corrects the collected course angle original measured values through the trained magnetic field correction coefficients so as to improve the course angle measurement precision, further improve the positioning and navigation precision of an indoor positioning terminal, effectively solve the problem of inaccurate reading caused by the fact that a built-in magnetometer in an intelligent terminal is interfered by external magnetic field distortion, and solve the problem of reading deviation caused by the fact that the course angle in a PDR is influenced by the external magnetic field distortion. Experiments show that the course angle corrected by the magnetic field is closer to the real walking direction of the user, and the PDR navigation precision is obviously improved.
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FIG. 1 is a flow chart of the present invention;
FIG. 2 is a plan view of a test environment of the present invention;
FIG. 3 is a graph of the test results of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, the method for correcting the dead reckoning course angle of the pedestrian based on the magnetic field correction of the invention comprises the following steps:
1) dividing a test area according to the magnetic field distortion condition in the test environment, and setting magnetic field correction points in each divided area;
2) acquiring original measurement values of course angles at each magnetic field correction point in the step 1) by using a terminal, and then taking the acquired original measurement values of the course angles as magnetic field correction coefficients;
3) training the magnetic field correction coefficient corresponding to each magnetic field correction point obtained in the step 2) by using a least square method to obtain a magnetic field correction coefficient;
4) and the user-held terminal judges the area where the user-held terminal is located in real time in the advancing process, and corrects the course angle original measurement value acquired by the terminal by using the trained magnetic field correction coefficient corresponding to the area to finish the pedestrian dead reckoning course angle correction based on the magnetic field correction.
The setting process of the magnetic field correction points in the step 1) is as follows:
setting a plurality of straight walking paths in a test area, enabling a user to hold a terminal to advance along the walking paths and continuously acquire original measured values of course angles, and recording original measured values phi of the course angles in different areas and real values phi of the course angles in the areas1The difference between delta phi and phi-phi1And taking the difference delta phi as a magnetic field distortion characteristic, and then setting different magnetic field correction points in regions with different magnetic field distortion characteristics, wherein one magnetic field correction point is set in each region with the same magnetic field distortion characteristic.
The specific operation of acquiring the original measured value of the course angle by using the terminal at the magnetic field correction point in the step 1) in the step 2) is as follows:
n different directions are arranged on a horizontal plane at the magnetic field correction point at equal intervals, then original measured values of course angles in the N directions are respectively collected through a terminal, and simultaneously real values of the course angles in the directions are recorded, wherein N is more than or equal to 5.
The specific operation of the step 3) is as follows:
calculating the difference delta phi between the original measured value of the course angle obtained by collection and the true value thereof, wherein,
Δφ＝φ-φ1＝A+B sinφ+C cosφ+D sin(2φ)+E cos(2φ) (1)
where φ is the original measurement of the heading angle, φ1The real value of the course angle is A, B, C, D and E are the magnetic field correction coefficient;
establishing an equation shown in the formula (2):
Figure BDA0001641102080000061
wherein phi isiIs the raw measurement value of course angle phi in the ith directioni' is the true value of the heading angle of the ith direction.
Magnetic field correction factor A, B, C, D, E]optComprises the following steps:
Figure BDA0001641102080000062
wherein, isi＝A+B sinφi+C cosφi+D sin(2φi)+E cos(2φi)，Δφi'＝φi-φi'。
The specific operation of correcting the course angle original measurement value acquired by the terminal by using the trained magnetic field correction coefficient corresponding to the area in the step 4) is as follows:
judging the area m of the terminal by using the PDR navigation track, and correcting the course angle phi after the magnetic fieldm calComprises the following steps:
φm cal＝φm ori-(Am+Bmsinφm ori+Cmcosφm ori+Dmsin(2φm ori)+Emcos(2φm ori)) (4)
wherein phi ism oriFor raw course angle measurements obtained in the area m, Am～EmMagnet corresponding to region mA field correction coefficient.
Example one
The test environment of this embodiment is a typical office area, the size of the whole test environment is 13.0m × 20.7m, the specific test environment is shown in fig. 2, the terminal is a glory Magic smartphone, and the specific process is as follows:
1) dividing the regions according to the magnetic field distortion condition, and setting magnetic field correction points in each region: the user holds the terminal to walk along the two rows of aisles between the tables and the right side aisle of the tables in the figure 2 in a straight line, continuously collects course angle original measured values, and judges the magnetic field distortion condition of each area according to the collected course original measured values; in the test, the experimental site was divided into 29 different zones, i.e. 29 magnetic field correction points were set;
2) collecting course angle original measurement values for training a magnetic field correction coefficient: collecting course angle original measurement values on each magnetic field correction point by using a terminal at 45-degree intervals in 8 directions on a horizontal plane, and simultaneously recording real course angle values in all directions;
3) calculating the corresponding magnetic field correction coefficient at each magnetic field correction point:
4) and the user-held terminal judges the area where the user-held terminal is located in real time in the advancing process, and corrects the course angle original measurement value acquired by the terminal by using the trained magnetic field correction coefficient corresponding to the area to finish the pedestrian dead reckoning course angle correction based on the magnetic field correction.
The positioning result of this embodiment is shown in table 1 and fig. 3, and the comparison method is an original PDR trajectory without course angle correction; as can be seen from Table 1, the average positioning error and the 95% positioning error of the invention are both obviously reduced; as can be seen from FIG. 3, the positioning track of the invention is closer to the real walking track, which proves that the invention can effectively improve the average precision and robustness of the positioning system.
TABLE 1
Figure BDA0001641102080000071

Claims (2)

1. A magnetic field correction-based pedestrian dead reckoning course angle correction method is characterized by comprising the following steps of:
step 1), dividing a test area according to the magnetic field distortion condition in the test environment, and setting a magnetic field correction point in each divided area;
step 2), collecting original measurement values of course angles at each magnetic field correction point in the step 1) by using a terminal;
step 3), training the course angle original measured values acquired at the magnetic field correction points obtained in the step 2) by using a least square method to obtain corresponding magnetic field correction coefficients at the magnetic field correction points;
step 4), the user holds the terminal in the course of advancing, judge its area in real time, and utilize the magnetic field correction coefficient after the corresponding training of this area to revise the course angle primitive measured value that the terminal station gathers, finish the pedestrian dead reckoning course angle based on magnetic field correction;
the setting process of the magnetic field correction points in the step 1) is as follows:
setting a plurality of straight walking paths in a test area, enabling a user to hold a terminal to advance along the walking paths and continuously acquire original measured values of course angles, and recording original measured values phi of the course angles in different areas and real values phi of the course angles in the areas1The difference between delta phi and phi-phi1Taking the difference delta phi as a magnetic field distortion characteristic, and setting different magnetic field correction points in regions with different magnetic field distortion characteristics, wherein one magnetic field correction point is arranged in each region with the same magnetic field distortion characteristic;
the specific operation of acquiring the original measured value of the course angle by using the terminal at the magnetic field correction point in the step 1) in the step 2) is as follows:
n different directions are arranged on a horizontal plane at the magnetic field correction point at equal intervals, and then course angle original measurement values in the N directions are respectively collected through a terminal, and simultaneously real values of course angles in all directions are recorded;
the specific operation of the step 3) is as follows:
calculating the difference delta phi between the original measured value of the course angle obtained by collection and the true value thereof, wherein,
Δφ＝φ-φ1＝A+B sinφ+C cosφ+D sin(2φ)+E cos(2φ) (1)
where φ is the original measurement of the heading angle, φ1The real value of the course angle is A, B, C, D and E are the magnetic field correction coefficient;
establishing an equation shown in the formula (2):
Figure FDA0002626330130000021
wherein phi isiIs the raw measurement value of course angle phi in the ith directioni' is the real value of the course angle of the ith direction;
magnetic field correction factor A, B, C, D, E]optComprises the following steps:
Figure FDA0002626330130000022
wherein, isi＝A+B sinφi+C cosφi+D sin(2φi)+E cos(2φi)，Δφ'i＝φi-φ'i；
The specific operation of correcting the course angle original measurement value acquired by the terminal by using the trained magnetic field correction coefficient corresponding to the area in the step 4) is as follows:
judging the area m of the terminal by using the PDR navigation track, and correcting the course angle phi after the magnetic fieldm calComprises the following steps:
φm cal＝φm ori-(Am+Bm sinφm ori+Cm cosφm ori+Dm sin(2φm ori)+Em cos(2φm ori)) (4)
wherein phi ism oriFor raw course angle measurements obtained in the area m, Am～EmThe magnetic field correction coefficient corresponding to the region m.
2. The method of claim 1, wherein N is greater than or equal to 5.
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