CN109297484A - A kind of pedestrian's autonomous positioning error correcting method for thering is gait to constrain - Google Patents
A kind of pedestrian's autonomous positioning error correcting method for thering is gait to constrain Download PDFInfo
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- CN109297484A CN109297484A CN201710609011.3A CN201710609011A CN109297484A CN 109297484 A CN109297484 A CN 109297484A CN 201710609011 A CN201710609011 A CN 201710609011A CN 109297484 A CN109297484 A CN 109297484A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention discloses a kind of pedestrian's autonomous positioning error correcting methods for having gait to constrain, by variation (0 ° of the turning for constraining pedestrian course, 90 ° or 180 °), course error is corrected using the template matching method based on Sequence Detection in real time, it solves course divergence problem caused by inertia device long time drift, improves the precision of pedestrian's autonomous positioning.This method comprises: (1) acquires IMU data, static gait detection is carried out using the constraint condition of pedestrian movement；(2) it calculates the course information of pedestrian and carries out the judgement of walking behavior, different walking behaviors matches trained gait sequence template, corrects course error in real time according to the course constraint under template；(3) estimation error, the final location information of output pedestrian are carried out using intelligent filter emerging system error.The present invention increases towards navigator fix field at two aspects of convenient degree and precision.
Description
Technical field
The invention belongs to technical field of navigation and positioning, more particularly to a kind of pedestrian's autonomous positioning error for having gait to constrain
Modification method.
Background technique
With the rapid growth of Intemet data traffic, demand of the people to navigation and positioning increasingly increases, especially multiple
In miscellaneous indoor environment, such as megastore, library are often it needs to be determined that the information such as position, posture of mobile terminal.Often at present
Indoor positioning technologies mainly have super wideband wireless location technology (Ultra Wideband, UWB), WLAN positioning skill
Art (WIFI), ultrasonic wave location technology, bluetooth location technology (Bluetooth) etc..Wherein, UWB location technology precision is higher, can
Reach Centimeter Level, but the technical costs is higher, and using location technology when needs to preset a large amount of node, increases and leads
The complexity of boat system；Universal with active wireless network, cost is relatively low for WIFI location technology, and does not need before positioning pre-
Node is first set, but the technological orientation precision is poor, generally can only achieve meter level, can be only applied to positioning accuracy request not
High place；And other indoor positioning technologies are required to some extraneous facility auxiliary when in use, this undoubtedly increases navigation
The complexity of system.However the inertial navigation system based on MEMS, the auxiliary of any outside plant is not needed, is relied solely on itself
Inertia device (accelerometer and gyroscope) can realize the autonomous positioning of pedestrian, and its at low cost, small in size, weight
Gently, independence is strong, and other location technologies that compare have apparent advantage.But the inertia device presence of the system is tired out at any time
Long-pending drift error will lead to the phenomenon that course dissipates if correcting the output of system not in time, make the precision of positioning increasingly
It is low, or even lose the function of positioning.The present invention is based on problems to propose a kind of pedestrian's autonomous positioning mistake for having gait to constrain
Poor modification method, course dissipates during efficiently solving the problems, such as pedestrian's autonomous positioning, improves pedestrian's autonomous positioning
Precision.
It is compared with the Related Applications Patent of same domain, creativeness of the invention and advantage are more obvious.For example, application
Number are as follows: 201510486767.4, patent name is " a kind of the double mode room based on double IMU in personal navigation system and method "
Patent believes the navigation that foot IMU is resolved using the course information obtained using the IMU measuring unit for being fixed on shoulder
Breath carries out error and estimates, although this method positioning accuracy is higher, the difficulty that double IMU modes are implemented is larger, is unfavorable in pedestrian
The popularization of navigation field.For another example, application No. is: 201710022551.1, patent name is that " one kind is based on adaptive Kalman
The pedestrian course Optimal Fusion of filtering " patent, course angle that this method is resolved by strapdown and magnetic heading angle
Optimum fusion, thus improve combination course angle precision, but due in building indoors magnetic field it is unstable, geomagnetic sensor play
The effect is unsatisfactory, this method positioning field indoors it is not very practical.
Summary of the invention
The purpose of the present invention essentially consists in: faced chamber's one skilled in the art's autonomous positioning, on the basis of INS+EKF+ZUPT frame,
Based on the fact the interior architecture tactical rule, the variation in course when pedestrian is walked indoors be constrained to 0 °, 90 ° or
180 °, gait sequence template is obtained by the common walking behavioral data of training pedestrian, is constrained using the course under template real-time
Amendment course information, so that solving the drift error that inertia device during pedestrian's autonomous positioning is accumulated at any time leads to course
The problem of diverging, further increases the precision of pedestrian's autonomous positioning.
To achieve the goals above, the present invention adopts the following technical scheme:
Step 1: acquisition IMU data carry out static gait detection using the constraint condition of pedestrian movement；
Step 2: calculating the course information of pedestrian and carry out the judgement of walking behavior, different walking behavior matchings has been trained
Good gait sequence template corrects course error according to the course constraint under template in real time；
Step 3: carrying out estimation error, the final location information of output pedestrian using intelligent filter emerging system error.
Further, by the way that IMU inertia measuring module to be fixed on to the foot of pedestrian, IMU number described in acquisition step 1
According to obtaining acceleration and angular speed information when pedestrian movement, then carry out static gait by the constraint condition of pedestrian movement
Detection is operated using the update that the zero-speed feature on pedestrian's foot contact ground carries out navigation system, thus the system of amendment navigation in real time
Speed, position and the horizontal attitude error of system.The judgment method that wherein static gait detection uses is as follows:
C1: vertical pivot acceleration peak value time point interval method.Pedestrian's foot contacts the moment on ground, and there are acceleration for vertical direction
Maximum value.By detecting the time to peak point k of the acceleration, and assume that the sometime interval Δ t after the time point is zero
Fast section.
In formula: apIt (k) is the peak-peak of k moment acceleration, ayIt (k) is the acceleration of vertical direction, TayFor acceleration
Threshold value；C1(k+ Δ t) indicates to detect the time interval that set pedestrian after acceleration peak value time point is in static gait.
C2: horizontal axis angular speed threshold method.The foot-up when variation of lateral gyroscope angular speed can measure pedestrian's walking,
The movement such as swinging kick, is taken absolute value by the output of lateral gyro as Rule of judgment, judgment method is as follows:
In formula: | wy(k) | indicate the absolute value of k moment transverse direction gyroscope output, TwFor angular speed threshold value, when lateral gyro
When the absolute value that instrument exports angular speed is lower than threshold value, pedestrian is in static gait.
Two above condition is set up simultaneously, i.e., when C1, C2 meet logic "and" operation, pedestrian is in static gait.
Further, it in the step 2, is resolved using strapdown and finishes the method for card three ranks update quaternary number to calculate course
Angle.Firstly, the expression formula of quaternary number initial attitude angle is as follows:
In formula, ψ, θ, γ respectively indicate yaw angle, pitch angle and roll angle, and carve ψ at the beginning, θ, and the value of γ is 0.
Then, quaternary number is updated using three order algorithms of complete card, the method is as follows:
In formula, Q (t) is the quaternary number of t moment,For 3 shaft angle degree quadratic sums, I is unit matrix,For to body
Integral of the coordinate system with respect to the skew symmetric matrix of the angular velocity of rotation of geographic coordinate system.
Finally, indicating pose transformation matrix using quaternary number, the relationship of the two is as follows:
Course angle is calculated according to pose transformation matrix, the method is as follows:
In formula, Tij(n) what is represented is the ith row and jth column element of attitude matrix.
The turning behavior of usual pedestrian includes 2-3 step, and for accuracy of judgement, the present invention passes through the boat to current 5 step of pedestrian
The gait types of pedestrian are judged to variation, and define the standard of each step course variation of pedestrian using state s, and s's determines
Right way of conduct method is as follows:
In formula, it is assumed that θ1=10 °, θ2=40 °, θ3=70 °, and direction is negative when pedestrian's left-hand rotation, such as some left-hand bend of pedestrian
Behavior can be expressed as { -2, -3, -1 } according to state s.After walking behavior determines, by largely walking behavioral data being trained to obtain
To gait sequence template, different walking behaviors matches corresponding template sequence, is repaired in real time using the course constraint under template
Positive course error.Assuming that having K gait and template matching, modified method is as follows:
At this time it should be noted that the template of 180 ° of turning can also match, that is to say, that 90 ° of turning when due to 90 ° of pedestrian's turning
Some sequences are included in the sequence of 180 ° of turning, therefore, 90 degree of substitution 180 degrees can be used during correction, or just to spend
Instead of negative degree.And when the walking behavior of pedestrian occurs abnormal, if someone turn-takes in situ swing, this method is simultaneously not suitable for, this
When the current gait types of pedestrian are further judged by the constraint of step-length, the method is as follows:
In formula, λ is used to limit the too small unusual condition of pedestrian's step-length；K is the step-length that pedestrian currently walks,It is pedestrian's walking
In the process from the first step to the data set of a last step.
Further, in the step 3, estimation error, error state are carried out using intelligent filter emerging system error
Measure X are as follows:
X=[δ ψk, δ vk, δ wk, δ pk]T
Wherein, δ ψkFor 3 attitude errors, δ vk=[δ vx, δ vy, δ vz] it is 3 axle speed errors, δ wk=[δ wx, δ wy, δ
wz] it is three axis angular rate errors, δ pk=[δ L, δ λ, δ h] is location error.
The zero-speed error of the static gait of pedestrian and course error are used as to the observation of system together, observational equation is as follows:
Obtained measurement battle array H are as follows:
Finally, the location information of pedestrian is obtained.
Compared with prior art, the beneficial effects of the present invention are:
(1) independence of the present invention is strong, and its is small in size, light-weight, it is wearable to have the characteristics that, keeps operation more convenient.
(2) present invention solves that course error observability is poor, and ZUPT can not correct boat by the constraint to pedestrian's gait
To the problem of, it is suppressed that course dissipate the phenomenon that.
(3) the zero-speed error of the static gait of pedestrian and course error will be used as together the observation of system by the present invention, into
One step improves the positioning accuracy of navigation system.
Detailed description of the invention
Fig. 1 is the entire block diagram of navigation system；
Fig. 2 is calibration result figure when pedestrian course is constrained to 0 °；
Fig. 3 is gait sequence template；
Fig. 4 is the method figure of navigational calibration.
Specific embodiment
Specific step is as follows for a kind of pedestrian navigation error correction algorithms for having gait to constrain provided by the invention:
As shown in Figure 1, measuring acceleration and angular speed letter when human motion first with Inertial Measurement Unit (1-1)
Then breath resolves (1-2) by strapdown and obtains the unmodified speed of pedestrian, position and posture information；It is examined using static gait
The feature that pedestrian's foot contact ground speed is zero in survey (1-3) carries out the update of inertial navigation system as a kind of trigger condition
Speed, position and the horizontal attitude error of navigation system are corrected in operation in real time；Then quaternary number is updated using three ranks of complete card
Method carries out the reckoning (1-4) of course angle, and by pedestrian when the variation of the course of first five step determines the walking behavior type of pedestrian
(1-5), (straight line, left front turning, right front turning, left back turning, right back turning)；Pass through the step that training pedestrian is common
Every trade is to obtain typical gait sequence template, and different gait sequences matches corresponding template type, utilizes the boat under template
Course error (1-6) is corrected in real time to constraint；Finally by the zero-speed error of the static gait of pedestrian and course error conduct together
The observation of system utilizes the error (1-7) of intelligent filter emerging system, the position of the pedestrian after output is corrected, speed
Degree and posture information (1-8), to improve the precision of navigation system.
As shown in Fig. 2, track calibration result figure when walking for pedestrian along straight line.Assuming that the current edge in building of pedestrian
Straight line walking will lead to showing for course diverging due to the drift error that the slight oscillatory and inertia device of foot are accumulated at any time
As there is the track of pedestrian and true track and deviate, be at this time 0 ° by the course variation of pedestrian as shown in Fig. 2-1
Constraint, track can be corrected as straight line, and the result of correction is as shown in Fig. 2-2.Other walking behaviors are identical with this, and are had
The turning path of some random errors can be corrected as ideal transition curve.
As shown in figure 3, for the gait sequence template obtained by five kinds of common walking behavioral datas of training pedestrian, usually
The turning behavior of pedestrian includes 2-3 step, and for accuracy of judgement, the present invention is judged by the course variation to current 5 step of pedestrian
The walking behavior of pedestrian, wherein " x " indicates that 2 or 3 replacements can be used.By the gait sequence and template sequence phase of the current K step of pedestrian
Matching corrects heading effect error using the course constraint under template, to improve the positioning accuracy of navigation system in real time.When
It so, can also be by more frequently training the asynchronous row behavioral data of pedestrian to continue to supplement gait in order to keep judgement more accurate
Sequence template.
As shown in figure 4, for the error correcting method of the present invention based on gait sequence detection, it is current by pedestrian
Course information calculate gait sequence state s (4-1), and utilize whether the current walking behavior of (4-2) detection pedestrian occurs
Abnormal, such as heading effect removing method when someone, which turn-takes in situ, to be swung, proposed is simultaneously not suitable for, at this time using step-length
Constraint (4-3) further judges the current walking behavior of pedestrian.The different walking behavior of pedestrian matches corresponding template sequence, benefit
Correct course error in real time with the course constraint under template, it should be noted at this time that pedestrian turn 90 ° when, 180 ° of template of turning
It is also matched, that is to say, that some sequences of 90 ° of turning are included in the sequence of 180 ° of turning (4-4), therefore, the mistake of correction
Replace 180 ° of degree with 90 ° of degree in journey, or negative degree is replaced with positive degree.
In addition, the walking behavior for working as pedestrian's appearance exception causes, gait types get the wrong sow by the ear or certain turning behaviors are lost
When, it can also pass through smaller angle by continuing that walking behavioral data is trained to want matched gait sequence template to extend
Degree is spaced segmentation threshold to increase the diversity of target template, to improve the accuracy of judging result.
By above-mentioned steps, a kind of design invention of pedestrian's autonomous positioning error correction for having gait to constrain can be completed.
This pedestrian's autonomous positioning error correcting method for having gait to constrain provided by the invention, not only restrained effectively
Drift error that inertia device is accumulated at any time and the phenomenon that cause course to dissipate, improve the positioning accuracy of navigation system, also
Using strong, small in size, the light-weight wearable feature of its independence, the convenient degree that user uses is improved.The above is only this hairs
Bright specific application example, is not limited in any way protection scope of the present invention.It is all to use equivalent transformation or equivalent replacement
And the technical solution formed, it all falls within the scope of the present invention.
Claims (4)
1. a kind of pedestrian's autonomous positioning error correcting method for thering is gait to constrain, it is characterised in that: the following steps are included:
Step 1: acquisition IMU data carry out static gait detection using the constraint condition of pedestrian movement；
Step 2: calculating the course information of pedestrian and carry out the judgement of walking behavior, different walking behavior matchings has trained step
State sequence template corrects course error according to the course constraint under template in real time；
Step 3: carrying out estimation error, the final location information of output pedestrian using intelligent filter emerging system error.
2. a kind of pedestrian's autonomous positioning error correcting method for thering is gait to constrain according to claim 1, it is characterised in that:
In the step 1, by acquiring the data of Inertial Measurement Unit IMU, the acceleration and angular speed information of pedestrian is obtained, row is passed through
The constraint condition of people's movement carries out static gait detection, carries out navigation system more using the zero-speed feature on pedestrian's foot contact ground
New operation, corrects speed, position and the horizontal attitude error of navigation system in real time.
3. a kind of pedestrian's autonomous positioning error correcting method for thering is gait to constrain according to claim 1, it is characterised in that:
In the step 2, course angle is calculated using the method that three ranks of complete card update quaternary number in real time, according to pedestrian when first five step is navigated
Walking behavior (straight line, left front turning, right front turning, left back turning, right back turning) is carried out to the state number of variation
Judgement, and in the indoor walking of structuring, the variation in course is constrained to 0 °, 90 ° or 180 ° by pedestrian, passes through training pedestrian
Common walking behavior obtains typical gait sequence template, and different walking behaviors matches corresponding template sequence, utilizes mould
Course error is corrected in course constraint under plate in real time.
4. a kind of pedestrian's autonomous positioning error correcting method for thering is gait to constrain according to claim 1, it is characterised in that:
In the step 3, estimation error is carried out using the error of intelligent filter emerging system, and by the zero-speed of pedestrian's Still time
Error and course error are used as the observation of system together, and the final location information of output pedestrian further increases navigation system
Positioning accuracy.
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| CN110686682A (en) * | 2019-11-15 | 2020-01-14 | 北京理工大学 | Indoor pedestrian course fusion constraint algorithm based on inertial system |
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Application publication date: 20190201 |