CN109298436A - A kind of indoor positioning and air navigation aid of multi-information fusion - Google Patents
A kind of indoor positioning and air navigation aid of multi-information fusion Download PDFInfo
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- CN109298436A CN109298436A CN201810463296.9A CN201810463296A CN109298436A CN 109298436 A CN109298436 A CN 109298436A CN 201810463296 A CN201810463296 A CN 201810463296A CN 109298436 A CN109298436 A CN 109298436A
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- 230000004927 fusion Effects 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 33
- 238000012937 correction Methods 0.000 claims abstract description 7
- 239000002245 particle Substances 0.000 claims description 32
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000012952 Resampling Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000010606 normalization Methods 0.000 claims description 3
- 238000013139 quantization Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims 1
- 230000004807 localization Effects 0.000 abstract 2
- 238000005259 measurement Methods 0.000 description 5
- 230000037230 mobility Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- 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
Abstract
The invention discloses a kind of indoor positioning of multi-information fusion and air navigation aids, are related to indoor navigation and localization method.This method is the following steps are included: firstly, obtain the interior space distributed intelligence plan view including GPS position information, geomagnetic data information and path data；Secondly, mobile terminal calculates current location by built-in inertial sensor information；Then, the geomagnetic data for obtaining current location realizes the magnetic orientation of indoor ground by geomagnetic matching algorithm；Further, the Bluetooth base. station according to indoor check point carries out the correction of current location；Finally, then obtaining the location information of user using multi-information fusion, indoor navigation can be realized in conjunction with the path data of plan view.The present invention combines a variety of localization methods, effectively raises the precision of indoor positioning and obtains the GPS information of indoor location, and complete indoor path navigation, is with a wide range of applications.
Description
Technical field
The present invention relates to a kind of indoor positioning and air navigation aid more particularly to a kind of indoor positioning of multi-information fusion with lead
Boat method.
Background technique
Nowadays, GPS system can be with the navigation problem of effective solution open air, such as almost each automobile is assembled with
GPS receiver is as vehicle mounted guidance.Deep fades can occur when penetrating wall due to satellite-signal, interior can not receive
Sufficiently accurate GPS signal realizes positioning and navigation.In large-scale room area, for example, airport, museum, market place builet below the ground,
Lower power transformation station etc., indoor positioning is especially highlighted with navigation problem.
As the intelligent terminals such as mobile phone start built-in high-precision abundant and reliable sensor, indoor positioning increasingly at
For one of people's concern and the hot spot studied.Currently, there are mainly two types of indoor positioning modes: base station location and passive location.
Base station location mainly pass through reception base station signal, by characteristics of signals carry out trilateration or strength matching etc. in the way of determine with
The relative position of base station is determining current indoor position in conjunction with base station coordinates position, such as wireless location, infrared positioning and ultrasonic wave
Positioning belongs to base station location.The major defect of the positioning method is to need to dispose additional equipment, this will greatly increase cost,
Base station signal is often limited to the structure of indoor complexity simultaneously, therefore this method position error is larger, and precision is inadequate.In order to save
About indoor positioning cost, passive location mode are subject to the people's attention.Passive location is mainly the sensing for utilizing equipment included
Device solves orientation problem, such as video camera, airborne laser range finder, magnetometer and Inertial Measurement Unit.
Recently, the fast development of MEMS, more cheap and devices small in size are built in portable device.
Therefore, people can use the position of the opposite starting point of Inertial Measurement Unit tracking pedestrian.It is tracked using Inertial Measurement Unit
The mode of pedestrian position includes: inertial navigation and reckoning.Wherein, inertial navigation mainly utilizes acceleration transducer and top
Spiral shell instrument obtains acceleration and the direction of carrier, is then displaced by the integral twice of acceleration, is obtained in conjunction with gyro data
Carrier direction is taken, location information can be obtained.The main problem of inertial navigation is deviation accumulation, for coarse sensor,
Position Accumulated deviation will reach unacceptable range in a short time under stationary state.Reckoning is in present pedestrian room
The major way of positioning, by the detection to pedestrian's gait, the position of pedestrian is mainly calculated using Stride length and frequency for it.The party
Method principle is simple, not high to sensor requirements.But the difficult point of this method is the estimation of step-length, therefore different pedestrians is walked
Long estimation will determine pedestrian navigation precision.
In addition, ground magnetic orientation also increasingly becomes research emphasis as a kind of auxiliary positioning mode in recent years, it is mainly logical
The indoor geomagnetic database of foundation is crossed, by acquiring current location geomagnetic data, ground magnetic orientation is realized by certain matching algorithm.
The precision of ground magnetic orientation depends primarily on sampling interval point, generally in 1m or so.The advantages of geomagnetic matching, is not tiring out for error
Product, position error will not increase with the time.
In summary, the advantages of existing indoor positioning technologies have oneself and defect, single mode are often limited to room
Interior structure or precision be not high.Therefore, existing indoor navigation and location technology could be improved.
Summary of the invention
In view of this, present invention aims to overcome that the defect of the prior art, provides a kind of interior of multi-information fusion
Positioning and air navigation aid by combining multiple indoor positioning method, and combine interior space distributed intelligence plan view, improve indoor
Positioning accuracy realizes indoor path navigation.
In order to achieve the above object, provided by the invention that the method for realizing indoor navigation positioning, packet are combined based on multimode
Include following steps:
S1: the interior space distributed intelligence plane including GPS position information, geomagnetic data information and path data is obtained
Figure；
S2: mobile terminal calculates current location by built-in inertial sensor information；
S3: obtaining the geomagnetic data of current location, realizes the magnetic orientation of indoor ground by geomagnetic matching algorithm；
S4: the Bluetooth base. station according to indoor check point carries out the correction of current location；
S5: and then the location information of user is obtained using multi-information fusion, room can be realized in conjunction with the path data of plan view
Interior navigation.
Further, the acquisition in the step S1 includes the interior of GPS position information, geomagnetic data information and path data
The method of space distribution information plan view the following steps are included:
S11: obtaining the plan view of indoor environment, to plan view vector quantization, is formed comprising elements such as room, wall and paths
Vector model；
S12: by the plan view gridding, and suitable earth axes are established；
S13: the coordinate of the GPS position information of the indoor mesh point obtained and geomagnetic data and the plan view is carried out
Corresponding association；
S14: screening the mesh point on the plan view passage zone, and will be distributed over the discrete click-through on path
Row is fitted, path data in forming chamber；
S15: above- mentioned information are integrated, space distribution information plan view in forming chamber.
Further, the GPS position information of the indoor mesh point of acquisition and the method for geomagnetic data in the step S13 include
Following steps: the GPS position information of building Beacon Point is obtained；It is sat according to the mesh point of known GPS position information and plan view
The GPS position information of mark conversion counting chamber internal net point position；And using magnetometer built in mobile terminal to indoor mesh point
Position carries out magnetic field strength date acquisition.
Further, the method that the mobile terminal in the step S2 calculates current location by built-in inertial sensor information
The following steps are included:
S21: inertial navigation position, direction initialization；
S22: using the accelerometer built in mobile terminal with frequencyAcquire acceleration information at, obtain t moment displacement
Measure Xt=[xt,yt]TWith velocity vector Vt=[vxt,vyt]T；
S23: utilization orientation sensor obtains the angle theta of equipment and direct north, in conjunction with course angle θ information and displacement
Xt, the position coordinates variable quantity of each time interval is calculated, reckoning obtains real-time current location, i.e. state mobility model:
Vt=Vt-1+Ts(at-1+a′t-1)
Wherein, a 't-1Indicate random noise.
Further, the geomagnetic data of the acquisition current location in the step S3, is realized indoor by geomagnetic matching algorithm
The method of ground magnetic orientation, using particle filter algorithm, comprising the following steps:
S31: particle filter initialization, region stochastic averagina generates N number of particle indoors
S32: carrying out an iteration when displacement changes, and the particle shape at lower moment is predicted by above-mentioned state mobility model
State
S33: it using the absolute force data of position in the geomagnetic data and plan view of current location acquisition, is seen according to target
It surveys likelihood function and calculates particle weightAnd it normalizes, target observation likelihood function are as follows:
The normalization of particle weight:
Wherein, ZtIt is the geomagnetic data of current location acquisition, D (Xt) it is X in plan viewtThe absolute force data of state, σ
It is poor for measurement noise criteria.
S34: the N number of new particle of resampling is carried out to particle collectionI.e. the big particle of duplication weight, removal weight are small
Particle；
S35: indoor location is estimated using the state weight average value of all particles:
Further, the method that the Bluetooth base. station of the indoor check point of foundation in the step S4 carries out the correction of current location
The following steps are included:
S41: Bluetooth base. station selects check point installation, and carries out power control, limits signal area；
S42: mobile terminal receives the signal strength of Bluetooth base. station when close to check point；
S43: the distance value of mobile terminal device and Bluetooth base. station is calculated according to signal strength indication:
Wherein, RSS is bluetooth signal intensity, d0For known reference distance, RSS0It is reference distance d0The average signal at place is strong
Degree, p are signal damped expoential.
S44: in conjunction with base station coordinates and indoor plane figure path data, location navigation can be corrected.
Further, the method for the location information for obtaining user using multi-information fusion in the step S5 include: will be upper
The method acquires position respectively compared with absolute fix, obtains empirical weight；End user is acquired using weighting location information
Position.
The present invention has the advantages that first, the invention proposes a kind of indoor positioning of multi-information fusion and air navigation aid,
It not only realizes indoor positioning, but also greatly enhances indoor position accuracy；Second, flat using interior space distributed intelligence
Face figure carries out auxiliary indoor positioning, it is possible to reduce limitation of the doors structure to indoor orientation method；Third, being believed using known GPS
The GPS position information of available indoor location is ceased, realizes to realize indoor and outdoor compatible positioning；Lead to fourth, the present invention has
With property, feasibility, it is with a wide range of applications.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
The detailed description of one step, in which:
Fig. 1 is the indoor positioning and air navigation aid flow chart of a kind of multi-information fusion；
Fig. 2 is interior space distributed intelligence plan view；
Fig. 3 is the indoor positioning and air navigation aid system structure diagram of a kind of multi-information fusion；
Specific embodiment
Below with reference to attached drawing, a preferred embodiment of the present invention will be described in detail；It should be appreciated that preferred embodiment
Only for illustrating the present invention, rather than limiting the scope of protection of the present invention.
Fig. 1 is the indoor positioning and air navigation aid flow chart of a kind of multi-information fusion, and Fig. 2 is flat for interior space distributed intelligence
Face figure, Fig. 3 are the indoor positioning and air navigation aid system structure diagram of a kind of multi-information fusion, and as shown in the figure: the present invention mentions
The indoor positioning and air navigation aid of a kind of multi-information fusion supplied, comprising the following steps:
S1: the interior space distributed intelligence plane including GPS position information, geomagnetic data information and path data is obtained
Figure；
S2: mobile terminal calculates current location by built-in inertial sensor information；
S3: obtaining the geomagnetic data of current location, realizes the magnetic orientation of indoor ground by geomagnetic matching algorithm；
S4: the Bluetooth base. station according to indoor check point carries out the correction of current location；
S5: and then the location information of user is obtained using multi-information fusion, room can be realized in conjunction with the path data of plan view
Interior navigation.
Further, the acquisition in the step S1 includes the interior of GPS position information, geomagnetic data information and path data
The method of space distribution information plan view the following steps are included:
S11: obtaining the plan view of indoor environment, to plan view vector quantization, is formed comprising elements such as room, wall and paths
Vector model；
S12: by the plan view gridding, and suitable earth axes are established；
S13: the coordinate of the GPS position information of the indoor mesh point obtained and geomagnetic data and the plan view is carried out
Corresponding association；
S14: screening the mesh point on the plan view passage zone, and will be distributed over the discrete click-through on path
Row is fitted, path data in forming chamber；
S15: above- mentioned information are integrated, space distribution information plan view in forming chamber.
Further, the GPS position information of the indoor mesh point of acquisition and the method for geomagnetic data in the step S13 include
Following steps: the GPS position information of building Beacon Point is obtained；It is sat according to the mesh point of known GPS position information and plan view
The GPS position information of mark conversion counting chamber internal net point position；And using magnetometer built in mobile terminal to indoor mesh point
Position carries out magnetic field strength date acquisition.
Further, the method that the mobile terminal in the step S2 calculates current location by built-in inertial sensor information
The following steps are included:
S21: inertial navigation position, direction initialization；
S22: using the accelerometer built in mobile terminal with frequencyAcquire acceleration information at, obtain t moment displacement
Measure Xt=[xt,yt]TWith velocity vector Vt=[vxt,vyt]T；
S23: utilization orientation sensor obtains the angle theta of equipment and direct north, in conjunction with course angle θ information and displacement
Xt, the position coordinates variable quantity of each time interval is calculated, reckoning obtains real-time current location, i.e. state mobility model:
Vt=Vt-1+Ts(at-1+a′t-1)
Wherein, a 't-1Indicate random noise.
Further, the geomagnetic data of the acquisition current location in the step S3, is realized indoor by geomagnetic matching algorithm
The method of ground magnetic orientation, using particle filter algorithm, comprising the following steps:
S31: particle filter initialization, region stochastic averagina generates N number of particle indoors
S32: carrying out an iteration when displacement changes, and the particle shape at lower moment is predicted by above-mentioned state mobility model
State
S33: it using the absolute force data of position in the geomagnetic data and plan view of current location acquisition, is seen according to target
It surveys likelihood function and calculates particle weightAnd it normalizes, target observation likelihood function are as follows:
The normalization of particle weight:
Wherein, ZtIt is the geomagnetic data of current location acquisition, D (Xt) it is X in plan viewtThe absolute force data of state, σ
It is poor for measurement noise criteria.
S34: the N number of new particle of resampling is carried out to particle collectionI.e. the big particle of duplication weight, removal weight are small
Particle；
S35: indoor location is estimated using the state weight average value of all particles:
Further, the method that the Bluetooth base. station of the indoor check point of foundation in the step S4 carries out the correction of current location
The following steps are included:
S41: Bluetooth base. station selects check point installation, and carries out power control, limits signal area；
S42: mobile terminal receives the signal strength of Bluetooth base. station when close to check point；
S43: the distance value of mobile terminal device and Bluetooth base. station is calculated according to signal strength indication:
Wherein, RSS is bluetooth signal intensity, d0For known reference distance, RSS0It is reference distance d0The average signal at place is strong
Degree, p are signal damped expoential.
S44: in conjunction with base station coordinates and indoor plane figure path data, location navigation can be corrected.
Further, the method for the location information for obtaining user using multi-information fusion in the step S5 include: will be upper
The method acquires position respectively compared with absolute fix, obtains empirical weight；End user is acquired using weighting location information
Position.
The indoor positioning and air navigation aid for present embodiments providing a kind of multi-information fusion pass through combination multiple indoor positioning
Mode, and interior space distributed intelligence plan view is combined, indoor position accuracy is improved, realizes indoor path navigation.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, it is clear that those skilled in the art
Various changes and modifications can be made to the invention by member without departing from the spirit and scope of the present invention.If in this way, of the invention
Within the scope of the claims of the present invention and its equivalent technology, then the present invention is also intended to encompass these to these modifications and variations
Including modification and variation.
Claims (7)
1. the indoor positioning and air navigation aid of a kind of multi-information fusion, it is characterised in that: the following steps are included:
S1: the interior space distributed intelligence plan view including GPS position information, geomagnetic data information and path data is obtained；
S2: mobile terminal calculates current location by built-in inertial sensor information；
S3: obtaining the geomagnetic data of current location, realizes the magnetic orientation of indoor ground by geomagnetic matching algorithm；
S4: the Bluetooth base. station according to indoor check point carries out the correction of current location；
S5: and then the location information of user is obtained using multi-information fusion, it can realize that interior is led in conjunction with the path data of plan view
Boat.
2. the indoor positioning and air navigation aid of a kind of multi-information fusion according to claim 1, it is characterised in that: the step
Acquisition in rapid S1 includes the interior space distributed intelligence plan view of GPS position information, geomagnetic data information and path data
Method the following steps are included:
S11: obtaining the plan view of indoor environment, to plan view vector quantization, forms the arrow comprising elements such as room, wall and paths
Measure model；
S12: by the plan view gridding, and suitable earth axes are established；
S13: the GPS position information of the indoor mesh point obtained and geomagnetic data are carried out with the coordinate of the plan view corresponding
Association；
S14: screening the mesh point on the plan view passage zone, and will be distributed over the discrete point on path and intended
It closes, path data in forming chamber；
S15: above- mentioned information are integrated, space distribution information plan view in forming chamber.
3. the indoor positioning and air navigation aid of a kind of multi-information fusion according to claim 2, it is characterised in that the step
The GPS position information of the indoor mesh point of acquisition and the method for geomagnetic data in rapid S13 is the following steps are included: obtain building letter
The GPS position information of punctuate；Counting chamber internal net point position is converted according to the mesh point coordinate of known GPS position information and plan view
The GPS position information set；And magnetic field strength date is carried out to indoor grid point locations using magnetometer built in mobile terminal and is adopted
Collection.
4. the indoor positioning and air navigation aid of a kind of multi-information fusion according to claim 1, it is characterised in that: in S2
Mobile terminal by built-in inertial sensor information calculate current location method the following steps are included:
S21: inertial navigation position, direction initialization；
S22: using the accelerometer built in mobile terminal with frequencyAcquire acceleration information at, obtain t moment displacement Xt=
[xt,yt]TWith velocity vector Vt=[vxt,vyt]T；
S23: utilization orientation sensor obtains the angle theta of equipment and direct north, in conjunction with course angle θ information and displacement Xt, calculate
The position coordinates variable quantity of each time interval out, reckoning obtain real-time current location, i.e. state mobility model:
Vt=Vt-1+Ts(at-1+a′t-1)
Wherein, a 't-1Indicate random noise.
5. the indoor positioning and air navigation aid of a kind of multi-information fusion according to claim 1, it is characterised in that: the step
The geomagnetic data of acquisition current location in rapid S3, the method that the magnetic orientation of indoor ground is realized by geomagnetic matching algorithm, using grain
Sub- filtering algorithm, comprising the following steps:
S31: particle filter initialization, region stochastic averagina generates N number of particle indoors
S32: carrying out an iteration when displacement changes, and the particle state at lower moment is predicted by above-mentioned state mobility model
S33: using the absolute force data of position in the geomagnetic data and plan view of current location acquisition, seemingly according to target observation
Right function calculates particle weightAnd it normalizes, target observation likelihood function are as follows:
The normalization of particle weight:
Wherein, ZtIt is the geomagnetic data of current location acquisition, D (Xt) it is X in plan viewtThe absolute force data of state, σ are to survey
It is poor to measure noise criteria.
S34: the N number of new particle of resampling is carried out to particle collectionThat is the big particle of duplication weight, the small particle of removal weight；
S35: indoor location is estimated using the state weight average value of all particles:
6. the indoor positioning and air navigation aid of a kind of multi-information fusion according to claim 1, it is characterised in that: the step
The Bluetooth base. station of the indoor check point of foundation in rapid S4 carry out the method for the correction of current location the following steps are included:
S41: Bluetooth base. station selects check point installation, and carries out power control, limits signal area；
S42: mobile terminal receives the signal strength of Bluetooth base. station when close to check point；
S43: the distance value of mobile terminal device and Bluetooth base. station is calculated according to signal strength indication:
Wherein, RSS is bluetooth signal intensity, d0For known reference distance, RSS0It is reference distance d0The average signal strength at place, p
For signal damped expoential.
S44: in conjunction with base station coordinates and indoor plane figure path data, location navigation can be corrected.
7. the indoor positioning and air navigation aid of a kind of multi-information fusion according to claim 1, it is characterised in that: the step
The method of the location information for obtaining user using multi-information fusion in rapid S5 include: by upper the method acquire position respectively with
Absolute fix compares, and obtains empirical weight；The position of end user is acquired using weighting location information.
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| CN109374007A (en) * | 2018-12-10 | 2019-02-22 | 国网重庆市电力公司南岸供电分公司 | Indoor path guide method based on GPS network and ground coordinate net |
| CN110146073A (en) * | 2019-06-11 | 2019-08-20 | 中国神华能源股份有限公司 | Personnel positioning method and apparatus based on earth magnetism |
| CN110779513A (en) * | 2019-10-28 | 2020-02-11 | 杭州十域科技有限公司 | Indoor public service place positioning system |
| CN110798806A (en) * | 2019-10-30 | 2020-02-14 | 武汉科技大学 | Kalman filtering indoor trajectory tracking algorithm based on geomagnetic intensity |
| CN111083659A (en) * | 2020-01-10 | 2020-04-28 | 中电科卫星导航运营服务有限公司 | Indoor positioning fusion algorithm |
| CN112051545A (en) * | 2020-09-10 | 2020-12-08 | 重庆大学 | Underground mine correction positioning method based on Bluetooth ranging |
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