CN109459030A - A kind of pedestrian's positioning correction method and system based on terrestrial reference - Google Patents

A kind of pedestrian's positioning correction method and system based on terrestrial reference Download PDF

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Publication number
CN109459030A
CN109459030A CN201811426120.2A CN201811426120A CN109459030A CN 109459030 A CN109459030 A CN 109459030A CN 201811426120 A CN201811426120 A CN 201811426120A CN 109459030 A CN109459030 A CN 109459030A
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terrestrial
pedestrian
wifi
matching
earth magnetism
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CN109459030B (en
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徐枫
吕明
杜华睿
田晓春
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Beijing Jiexun Technology Co Ltd Position
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Beijing Jiexun Technology Co Ltd Position
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20Instruments for performing navigational calculations
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; 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
    • G01C21/16Navigation; 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

Abstract

The invention discloses a kind of pedestrian's positioning correction method based on terrestrial reference, which comprises confirmation is obtained to travel region to the landmark information in travel region;The terrestrial reference includes physics terrestrial reference, earth magnetism terrestrial reference and WIFI terrestrial reference;The traveling parameter in acquisition pedestrian's traveling process, the traveling parameter include angular velocity signal, the magnetic field intensity signal of pedestrian position and the WIFI signal of pedestrian position that pedestrian advances in real time;When the traveling parameter meets preset rules, according to the landmark information in the traveling parameter matching area, matching terrestrial reference is obtained;Reckoning is positioned to the pedestrian currently walked according to the matching terrestrial reference to be modified;The method and system calculate that each step positioning is modified to pedestrian course, avoid the accumulation of position error;It ensure that the accurate amendment waited in travel zone in pedestrian by a variety of terrestrial references of setting;High-precision location navigation demand can be met to the full extent by the method and the revised pedestrian's positioning result of system.

Description

A kind of pedestrian's positioning correction method and system based on terrestrial reference
Technical field
The present invention relates to field of communication technology, more particularly, to a kind of pedestrian's positioning correction method based on terrestrial reference and System.
Background technique
Location navigation has become the most basic demand of people's daily trip, especially in some special dimensions to location navigation More stringent requirements are proposed for precision, with abundant, traditional precision based on the location navigation under beaconing environment of usage scenario It is highlighted therewith with the problems such as base station communication, such as to precision, there are shadows due to the blocking by house sidings for indoor location navigation It rings;Pedestrian's dead reckoning comes into being, and pedestrian's dead reckoning perceives personnel during traveling by inertia measurement The data such as acceleration, angular speed, magnetic force, and calculated using step-length of these data to traveling personnel with direction, thus Achieve the purpose that reach in the environment of no remote beacon and location navigation is carried out to pedestrian;
And each step of pedestrian's dead reckoning calculate is completed on the basis of previous step, the deviation of each step is also Accumulative;Pedestrian wear inertia measurement device measuring precision is poor or pedestrian's gait detection and turns to detection not in time In the case of, pedestrian's dead reckoning may have biggish position error.
Summary of the invention
In order to solve the problems, such as pedestrian's dead reckoning existing for background technique, there are position errors, and the present invention provides one kind Pedestrian's positioning correction method and system based on terrestrial reference.
The disclosure provides a kind of pedestrian's positioning correction method based on terrestrial reference, which comprises
It obtains to the landmark information in travel region;The terrestrial reference includes physics terrestrial reference, earth magnetism terrestrial reference and WIFI terrestrial reference;
Traveling parameter in acquisition pedestrian's traveling process in real time, the traveling parameter include the angular speed letter that pedestrian advances Number, one of the WIFI signal of the magnetic field intensity signal of pedestrian position and pedestrian position or a variety of;
When the traveling parameter meets preset rules, according to the landmark information in the traveling parameter matching area, obtain Terrestrial reference must be matched;
Reckoning is positioned to the pedestrian currently walked according to the matching terrestrial reference to be modified.
Further, before obtaining to the landmark information in travel region, the method also includes:
It is extracted in advance in the scanning for carrying out landmark information to travel region;
It scans and makees in the corresponding position coordinates of the physical location point to make pedestrian change direction of travel in travel region For physics terrestrial reference, the physics terrestrial reference includes its corresponding position coordinates and its direction of travel information for changing pedestrian;It sweeps It retouches in the corresponding position coordinates of the characteristic point for meeting preset rules to magnetic field strength in travel region as earth magnetism terrestrial reference, institute State the magnetic field strength information that earth magnetism terrestrial reference includes its corresponding position coordinates and corresponding position;Scanning is described to travel region Inside meet the corresponding position coordinates of characteristic point of preset rules as WIFI terrestrial reference, the WIFI terrestrial reference includes its corresponding position The WIFI signal strength information of coordinate and corresponding position.
Further, described for determining that the preset rules of earth magnetism terrestrial reference include: the corresponding position of the earth magnetism terrestrial reference At least one is in peak value or valley in the horizontal component and vertical component of magnetic field strength;It is described to be used to determine WIFI terrestrial reference Preset rules include: that successively scanning is described to all paths in travel region, and WIFI letter will be received by predeterminated frequency Position where number intensity is as WIFI terrestrial reference.
Further, the preset rules that the angular velocity signal meets as traveling parameter are as follows: walked according to the preceding N currently walked Corresponding horizontal angular velocity signal calculates accumulative rotational angle, when the accumulative rotational angle is higher than preset threshold, then judges Pedestrian's direction of travel changes;
Using by pedestrian position calculate the corresponding position of currently step as the center of circle, with M meter be radius in search for physically Mark;
It is physically denoted as what search obtained as matching terrestrial reference;If described search obtains multiple physics terrestrial references, using away from working as Preceding step sets nearest be physically denoted as to match terrestrial reference.
Further, the preset rules that the magnetic field intensity signal meets as traveling parameter are as follows: respectively to magnetic field strength Horizontal component and vertical component carry out inspection peak;When at least one of the horizontal component and vertical component be in peak value or When valley, judge that pedestrian is near a certain earth magnetism terrestrial reference;
To position the corresponding position of currently step calculated as the center of circle by pedestrian, one is obtained for search in radius with P meters A or multiple earth magnetism terrestrial references are as candidate earth magnetism terrestrial reference;
The earth magnetism feature of the candidate earth magnetism terrestrial reference and current location is calculated away from if the earth magnetism feature is away from less than default threshold When value, using the candidate earth magnetism terrestrial reference as matching terrestrial reference;
If the earth magnetism feature away from be less than preset threshold candidate earth magnetism be designated as multiple, using select earth magnetism feature away from The corresponding earth magnetism terrestrial reference of the smallest candidate's earth magnetism terrestrial reference is as matching terrestrial reference.
Further, the preset rules that the WIFI signal meets as traveling parameter are as follows: to be pushed away by pedestrian's positioning The corresponding position of currently step calculated is the center of circle, with Q meters to search in radius, obtains WIFI terrestrial reference;
The WIFI signal for calculating current step position, obtains WIFI signal intensity vector;
It calculates current step position WIFI signal intensity vector and searches for the WIFI feature of the candidate WIFI terrestrial reference obtained Away from;If the WIFI feature is away from preset threshold is less than, using candidate's WIFI terrestrial reference as matching terrestrial reference;
If the WIFI feature is designated as multiple away from the candidate WIFI for being less than preset threshold, using WIFI feature away from minimum Candidate WIFI terrestrial reference as matching terrestrial reference.
Further, the step-length for calculating result is positioned to current walking people according to the position being matchingly marked on to travel region And course is modified;
The step-length is modified by step-length correction factor;The step-length correction factor be matching landmark locations with it is upper Distance after the amendment of one step between position positions quotient of the DR position at a distance from position after previous step amendment divided by current walking people With the product of previous step correction factor;
The navigational calibration angle is obtained by calculating navigational calibration tangent of an angle value;It is fixed to current walking people using course angle Position calculates that the course of result is modified;The navigational calibration tangent of an angle value be current walking people position DR position with match The distance of landmark locations positions quotient of the DR position at a distance from position after previous step amendment divided by current walking people.
Further, it when currently walking while obtaining multiple matching terrestrial references, chooses in similar terrestrial reference closest to current step Most matching terrestrial reference of the terrestrial reference of position as such terrestrial reference;Calculate the corresponding amendment knot of each of multiple most matching terrestrial references Fruit;It calculates and obtains finally by preset multiple corresponding weight distributions of matching terrestrial reference and each matchingly target correction result Correction result.
Further, it will be selected in advance the landmark information extracted to travel region scanning, according to each paths that can be walked Corresponding near zone is arranged and is stored.
The disclosure provides a kind of pedestrian's positioning update the system based on terrestrial reference, the system comprises:
Terrestrial reference acquiring unit, the terrestrial reference acquiring unit are obtained for confirming to travel region in travel region Landmark information;The terrestrial reference includes physics terrestrial reference, earth magnetism terrestrial reference and WIFI terrestrial reference;
Traveling parameter acquisition unit, the traveling parameter acquisition unit for acquiring the traveling in pedestrian's traveling process in real time Parameter, the traveling parameter include the angular velocity signal of pedestrian's traveling, the magnetic field intensity signal of pedestrian position and pedestrian The WIFI signal of position;
Terrestrial reference matching primitives unit, the terrestrial reference matching primitives unit are used to confirm the row of traveling parameter acquisition unit acquisition Whether meet preset rules into parameter, and according to the landmark information in the traveling parameter matching area for meeting rule, is matched Terrestrial reference;
Corrected Calculation unit, the corrected Calculation unit are used to be calculated matchingly according to the terrestrial reference matching primitives unit It marks and the pedestrian's positioning reckoning currently walked is modified.
Further, the system also includes previously-scanned units;The previously-scanned unit in advance it is described to The scanning that travel region carries out landmark information is extracted;
The previously-scanned unit scan is described to make pedestrian change the physical location point of direction of travel in travel region As physics terrestrial reference, the physics terrestrial reference includes its corresponding position coordinates and its direction of travel information for changing pedestrian; The pre-selection scanning element scanning is in the corresponding position of the characteristic point for meeting preset rules to magnetic field strength in travel region For coordinate as earth magnetism terrestrial reference, the earth magnetism terrestrial reference includes the magnetic field strength information of its corresponding position coordinates and corresponding position; The previously-scanned unit scan is in the corresponding position coordinates conduct of the characteristic point to meet preset rules in travel region WIFI terrestrial reference, the WIFI terrestrial reference include the WIFI signal strength information of its corresponding position coordinates and corresponding position.
Further, described for determining that the preset rules of earth magnetism terrestrial reference include: the corresponding position of the earth magnetism terrestrial reference At least one is in peak value or valley in the horizontal component and vertical component of magnetic field strength;It is described to be used to determine WIFI terrestrial reference Preset rules include: that successively scanning is described to all paths in travel region, and WIFI letter will be received by predeterminated frequency Position where number intensity is as WIFI terrestrial reference.
Further, the terrestrial reference matching primitives unit is used for according to the corresponding horizontal angular speed letter of the preceding N step currently walked Number accumulative rotational angle is calculated, when the accumulative rotational angle is higher than preset threshold, the terrestrial reference matching primitives unit judges Pedestrian's direction of travel changes;
The terrestrial reference matching primitives unit be used for using by pedestrian positioning reckoning the corresponding position of currently step as the center of circle, It is search physics terrestrial reference in radius with M meters;It is physically denoted as what search obtained as matching terrestrial reference;If described search obtains multiple Physics terrestrial reference uses and sets nearest be physically denoted as matching terrestrial reference away from current step.
Further, the terrestrial reference matching primitives unit is used for respectively to the horizontal component of magnetic field strength and vertical component Carry out inspection peak;When at least one of the horizontal component and vertical component are in peak value or valley, the terrestrial reference is calculated Unit judges pedestrian is near a certain earth magnetism terrestrial reference;
The terrestrial reference matching primitives unit be used for using by pedestrian positioning reckoning the corresponding position of currently step as the center of circle, One or more earth magnetism terrestrial references are obtained as candidate earth magnetism terrestrial reference using P meters for search in radius;
The earth magnetism feature of the candidate earth magnetism terrestrial reference and current location is calculated away from if the earth magnetism feature is away from less than default threshold When value, using the candidate earth magnetism terrestrial reference as matching terrestrial reference;
If the earth magnetism feature away from be less than preset threshold candidate earth magnetism be designated as multiple, using select earth magnetism feature away from The corresponding earth magnetism terrestrial reference of the smallest candidate's earth magnetism terrestrial reference is as matching terrestrial reference.
Further, the terrestrial reference matching primitives unit is used for to position the corresponding position of currently step calculated by pedestrian It is set to the center of circle, with Q meters to search in radius, obtains WIFI terrestrial reference;
The terrestrial reference matching primitives unit calculates the WIFI signal of current step position, obtain WIFI signal intensity to Amount;The candidate WIFI that the terrestrial reference matching primitives unit calculates current step position WIFI signal intensity vector and search obtains The WIFI feature of terrestrial reference away from;If the WIFI feature is away from preset threshold is less than, using candidate's WIFI terrestrial reference as matchingly Mark;If the WIFI feature is designated as multiple away from the candidate WIFI for being less than preset threshold, using WIFI feature away from the smallest time Select WIFI terrestrial reference as matching terrestrial reference.
Further, the corrected Calculation unit is used for basis and is matchingly marked on the position to travel region to current walking People, which positions, calculates that the step-length of result and course are modified;
The corrected Calculation unit is used for material calculation correction factor;The step-length correction factor be matching landmark locations with Distance after previous step amendment between position positions DR position at a distance from position after previous step amendment divided by current walking people The product of quotient and previous step correction factor;
The corrected Calculation unit obtains the navigational calibration angle for calculating navigational calibration tangent of an angle value, and uses boat Current walking people is positioned to angle and calculates that the course of result is modified;The navigational calibration tangent of an angle value is current walking people It positions DR position and positions position after DR position and previous step amendment divided by current walking people at a distance from matching landmark locations Distance quotient.
Further, described to repair when the terrestrial reference matching primitives unit is in current step while when obtaining multiple matching coordinates Positive computing unit is used to choose most matching terrestrial reference of the terrestrial reference set in similar terrestrial reference closest to current step as such terrestrial reference, meter Calculate the corresponding correction result of each of multiple most matching terrestrial references;The corrected Calculation unit is used to pass through preset multiple It calculates with the corresponding weight distribution of terrestrial reference and each matchingly target correction result and obtains final correction result.
Further, the previously-scanned unit is used to that the landmark information extracted to travel region scanning will to be selected in advance, presses It is arranged and is stored according to the corresponding near zone of each paths that can be walked.
The beneficial effect of above scheme includes: to give a kind of pedestrian's positioning correction method and system based on terrestrial reference, institute State method and system presetting according to a variety of terrestrial references for acquiring information, what is positioned using pedestrian to travel region in pedestrian The terrestrial reference near current location is obtained by preset matching way when each step, and according to terrestrial reference to pedestrian's positioning result It is modified;The method and system are modified each step positioning that pedestrian course calculates, avoid the tired of position error Product;And a variety of terrestrial references by being arranged ensure that the accurate amendment waited in travel zone in pedestrian;Pass through the method and system Revised pedestrian's positioning result can meet high-precision location navigation demand to the full extent.
Detailed description of the invention
By reference to the following drawings, exemplary embodiments of the present invention can be more fully understood by:
Fig. 1 is a kind of flow chart of pedestrian's positioning correction method based on terrestrial reference of the specific embodiment of the invention;
Fig. 2 is that the pedestrian under matching physics terrestrial reference, earth magnetism terrestrial reference and the WIFI terrestrial reference of the specific embodiment of the invention is fixed The flow chart of position modification method;
Fig. 3 is that a kind of pedestrian based on terrestrial reference of the specific embodiment of the invention positions the structure chart of update the system.
Specific embodiment
Exemplary embodiments of the present invention are introduced referring now to the drawings, however, the present invention can use many different shapes Formula is implemented, and is not limited to the embodiment described herein, and to provide these embodiments be at large and fully disclose The present invention, and the scope of the present invention is sufficiently conveyed to person of ordinary skill in the field.Show for what is be illustrated in the accompanying drawings Term in example property embodiment is not limitation of the invention.In the accompanying drawings, identical cells/elements use identical attached Icon note.
Unless otherwise indicated, term (including scientific and technical terminology) used herein has person of ordinary skill in the field It is common to understand meaning.Further it will be understood that with the term that usually used dictionary limits, should be understood as and its The context of related fields has consistent meaning, and is not construed as Utopian or too formal meaning.
Fig. 1 is a kind of flow chart of pedestrian's positioning correction method based on terrestrial reference of the specific embodiment of the invention, such as Fig. 1 It is shown, which comprises
Step 110, confirmation is obtained to travel region to the landmark information in travel region;
Carry out pedestrian position amendment before, the method also includes a preliminary steps, i.e., in advance to travel region into The scanning of row landmark information is extracted;
It is described to travel region, refer to that the achievable pedestrian of this method covering positions modified region and further refers to this In region all can walking path;Before carrying out pedestrian and positioning in real time, first the All Paths in the region are swept comprehensively It retouches, obtains all landmark informations in the region, and store in the database;It is described to travel region can for a room, One building, an a block even city or bigger;Can according to the size to travel region, determine again all scanning or The time cycle of partial sweep, to ensure that the scanning result to travel region is accurate;The each step of pedestrian's traveling is corresponding Position described in travel region;Described obtain is extracted from correspondence database to the landmark information in travel region The landmark information in travel region.
The terrestrial reference includes physics terrestrial reference, earth magnetism terrestrial reference and WIFI terrestrial reference;
Scanning makes pedestrian change the physical location point of direction of travel as physics terrestrial reference in the region;It is described physically Mark includes to crossing, stairs port and the corresponding position coordinates of barrier in travel region;The physics terrestrial reference includes its correspondence Position coordinates and its make pedestrian change direction of travel information;
Scanning magnetic field strength in the region meets the corresponding position coordinates of characteristic point of preset rules as earth magnetism Mark;The earth magnetism terrestrial reference includes the magnetic field strength information of its corresponding position coordinates and corresponding position;In the present embodiment, institute State the horizontal component for the magnetic field strength that the preset rules for determining earth magnetism terrestrial reference include: the corresponding position of the earth magnetism terrestrial reference with And at least one of vertical component is peak value or valley.
Scanning WIFI signal in the region meets the corresponding position coordinates of characteristic point of preset rules as WIFI Mark, the WIFI terrestrial reference includes the WIFI signal strength information of its corresponding position coordinates and corresponding position;In the present embodiment In, the preset rules for determining WIFI terrestrial reference include: described in successively scanning to all paths in travel region, and will Position as where predeterminated frequency receives WIFI signal intensity is as WIFI terrestrial reference;Gradually carrying out entirely to travel region During scanning, WIFI signal being received by setpoint frequency, such as after being converted into the time, every 3s receives a WIFI signal, and Scanning process is in entire travel region, especially when being scanned on a certain path, can receive a WIFI signal every 3s, In the current location for receiving signal, it is recorded as WIFI terrestrial reference, which includes the coordinate and WIFI of current location Signal message;WIFI signal include the WIFI signal synthesis that multiple WIFI signal sources are sent WIFI signal intensity to Amount.
Step 120, the traveling parameter in acquisition pedestrian's traveling process, the traveling parameter include the angle that pedestrian advances in real time One or more of speed signal, the magnetic field intensity signal of pedestrian position and WIFI signal of pedestrian position;
In the present embodiment, the angular velocity signal that the pedestrian advances is expert in the equipment of human hand held or wearing by being arranged Gyroscope acquire obtain;Its sample frequency is 50Hz, converts the output from Gyroscope under east-north-day coordinate system Angular velocity signal;Judge whether pedestrian has the change carried out on direction by the angular velocity signal of horizontal direction emphatically;
Magnetic in equipment of the magnetic field intensity signal of the pedestrian position by the way that be expert at human hand held or wearing is arranged passes Sensor acquisition obtains, and in the present embodiment, same frequency acquisition is 50Hz, converts east-for the output signal of the Magnetic Sensor Magnetic field intensity signal under north-day coordinate system, i.e. magnetic field strength horizontal component, magnetic field strength vertical component and magnetic dip angle;
Communication apparatus in equipment of the WIFI signal of position described in the pedestrian by the way that be expert at human hand held or wearing is arranged Acquisition obtains, and generates multidimensional WIFI signal intensity vector according to multiple WIFI signals of the current location of the acquisition.
Step 130, when the traveling parameter meets preset rules, according to the terrestrial reference in the traveling parameter matching area Information obtains matching terrestrial reference;
Related traveling parameter includes the magnetic field of the angular velocity signal of pedestrian's traveling, pedestrian position in the present embodiment The WIFI signal of strength signal and pedestrian position;
Fig. 2 is that the pedestrian under matching physics terrestrial reference, earth magnetism terrestrial reference and the WIFI terrestrial reference of the specific embodiment of the invention is fixed The flow chart of position positioning correction method, as shown in Figure 2:
It, can be according to institute when angular velocity signal meets following preset rules as traveling parameter when monitoring angular velocity signal The landmark information in traveling parameter matching area is stated, matching terrestrial reference is obtained;
Step 1311, accumulative rotational angle is calculated according to the corresponding horizontal angular velocity signal of preceding N step currently walked;
If the last time judges that the step number that the step pitch that pedestrian's direction of travel changes currently walks is less than preset N value, The step for taking last time to judge that pedestrian's direction of travel changed calculates accumulative rotational angle to corresponding horizontal angle speed is currently walked;
Step 1312, when the accumulative rotational angle be higher than preset threshold, then judge that pedestrian's direction of travel changes;
In the present embodiment, N=6 is taken, that is, length is used to add up rotational angle ∝ for the window calculation of 6 steps;
When ∝ is greater than preset threshold π/4, it is believed that pedestrian turns to, and direction of travel changes;
Step 1313, using by pedestrian position calculate the corresponding position of currently step as the center of circle, with M meter be radius in search Rope physics terrestrial reference is physically denoted as described as matching terrestrial reference;If described search obtains multiple physics terrestrial references, using away from current step Position is nearest to be physically denoted as to match terrestrial reference;
If search obtains physics terrestrial reference, because of physics terrestrial reference changing for direction of travel passively occurs for description line National People's Congress probability Become;Further, the corresponding pedestrian of each of described physics terrestrial reference should change nyctitropic angular range, when searching a physics When terrestrial reference, while also needing to judge that pedestrian direction changes whether angle meets the physically target angular range;If a such as physics Ground is designated as pillar, and changing direction scope is -90 °~90 °;And the steering of 180 degree nearby has occurred in pedestrian, then may not be Therefore going direction changing caused by pillar;
If not searching physics terrestrial reference, illustrates that pedestrian may be the direction of travel that changes of active, pass through physics at this time Terrestrial reference scans for no longer being applicable in.
It, can root when magnetic field intensity signal meets following preset rules as traveling parameter when monitoring magnetic field intensity signal According to the landmark information in the traveling parameter matching area, matching terrestrial reference is obtained;
Step 1321, inspection peak is carried out to the horizontal component of magnetic field strength and vertical component respectively;
Because the magnetic field strength each component be be it is continuous, the mode at the inspection peak include it is a variety of, for single Component can carry out the comparison of absolute value by acquiring speed in real time;Peak value can also be obtained by calculating real time acceleration;
Step 1322, when at least one of the horizontal component and vertical component are in peak value or valley, judge to go People is near a certain earth magnetism terrestrial reference;
When carrying out the acquisition of earth magnetism terrestrial reference, be by horizontal component and vertical component at least one of in peak value or The point of valley acquires corresponding position coordinates as earth magnetism terrestrial reference;When a certain magnetic field strength component for acquiring pedestrian in real time When having reached peak value or valley, illustrate that the locating point of the pedestrian should mutually be closed on preset a certain earth magnetism terrestrial reference;
Step 1323, using by pedestrian position calculate the corresponding position of currently step as the center of circle, with P meter be radius in search Rope obtains one or more earth magnetism terrestrial references as candidate earth magnetism terrestrial reference;Calculate the earth magnetism of candidate the earth magnetism terrestrial reference and current location Feature is away from if the earth magnetism feature is away from preset threshold is less than, using the candidate earth magnetism terrestrial reference as matching terrestrial reference;
The earth magnetism feature away from calculation formula are as follows:
Earth magnetism feature is away from=dGeometry+dFeature
VIt is horizontal=horizontal component peak valley situation I;
VVertically=vertical component peak valley situation ‖ M ‖;
Wherein, I is magnetic dip angle, M is magnetic field strength;
If the earth magnetism feature away from be less than preset threshold candidate earth magnetism be designated as multiple, using select earth magnetism feature away from The corresponding earth magnetism terrestrial reference of the smallest candidate's earth magnetism terrestrial reference is as matching terrestrial reference.
It, can be according to the row when WIFI signal meets following preset rules as traveling parameter when monitoring WIFI signal Landmark information into parameter matching area obtains matching terrestrial reference;
Step 1331, using by pedestrian position calculate the corresponding position of currently step as the center of circle, with Q meter be radius in search Rope obtains candidate's WIFI terrestrial reference;
Step 1332, the WIFI signal for calculating current step position, obtains WIFI signal intensity vector;
Step 1333, it calculates current step position WIFI signal intensity vector and searches for the candidate WIFI terrestrial reference obtained WIFI feature away from;Judge the WIFI feature away from whether less than preset threshold;The candidate WIFI for meeting preset condition is denoted as To match terrestrial reference;
If described search obtains multiple WIFI terrestrial references, using WIFI feature away from the smallest WIFI terrestrial reference as matching terrestrial reference.
The WIFI feature away from calculation formula are as follows:
WIFI feature is away from=dGeometry+dFeature
Wherein, dGeometryCurrently to walk to the geometric distance of candidate WIFI terrestrial reference, dFeatureCurrently to walk WIFI signal intensity vector With the cosine similarity value of candidate WIFI landmark locations signal strength vector;K is preset matching constant;
The WIFI feature away from the WIFI signal intensity vector for mainly judging currently to walk by cosine similarity whether with Signal strength at candidate WIFI terrestrial reference is similar;While in order to avoid being matched in entire path far but signal strength phase of meeting As point, add geometric distance of the current step to candidate WIFI terrestrial reference to avoid this problem.
Step 140, reckoning is positioned to the pedestrian currently walked according to the matching terrestrial reference to be modified.
Step-length and the course for calculating result are positioned to current walking people according to the position being matchingly marked on to travel region It is modified;
The step-length is modified by step-length correction factor;The step-length correction factor be matching landmark locations with it is upper Distance after the amendment of one step between position positions quotient of the DR position at a distance from position after previous step amendment divided by current walking people With the product of previous step correction factor;
By taking the present embodiment as an example: P1(x1, y1) it is that current walking people positions DR position, P0(x0, y0) it is that previous step is corrected Position afterwards, P2(x2, y2) it is matching landmark locations;
Then step-length correction factor
Wherein, f0It can be preset correction factor for previous step correction factor,
The navigational calibration angle is obtained by calculating navigational calibration tangent of an angle value;It is fixed to current walking people using course angle Position calculates that the course of result is modified;The navigational calibration tangent of an angle value be current walking people position DR position with match The distance of landmark locations positions quotient of the DR position at a distance from position after previous step amendment divided by current walking people.
By taking the present embodiment as an example, the navigational calibration angle is θ ≈ tan-1(P2P1/P0P1);
Wherein,
Further, it will be selected in advance the landmark information extracted to travel region scanning, according to each paths that can be walked Corresponding near zone is arranged and is stored;
It is subsequent carry out matching landmark information when, the landmark information of first search current path near zone.
Further, it when currently walking while obtaining multiple matching terrestrial references, chooses in similar terrestrial reference closest to current step Most matching terrestrial reference of the terrestrial reference of position as such terrestrial reference;Calculate the corresponding amendment knot of each of multiple most matching terrestrial references Fruit;It calculates and obtains finally by preset multiple corresponding weight distributions of matching terrestrial reference and each matchingly target correction result Correction result.
Such as: when the multiple matching terrestrial references obtained in current step are physics terrestrial reference, select in multiple physics terrestrial references most Most matching terrestrial reference of the terrestrial reference set close to current step as such terrestrial reference;Only one most matches terrestrial reference at this time, then by being somebody's turn to do The correction result that most matching terrestrial reference calculates is final correction result;
When current step obtain it is multiple be matchingly designated as a physics terrestrial reference and two earth magnetism terrestrial references when, it is described physically Mark is the most matching terrestrial reference in physics terrestrial reference class, and the terrestrial reference for select in two earth magnetism terrestrial references closest current step to set as The most matching terrestrial reference of such terrestrial reference;The corresponding most matching terrestrial reference of physics terrestrial reference is calculated separately at this time and earth magnetism terrestrial reference is corresponding most matchingly Target correction result is calculated by preset weight distribution and the correction result, can be obtained final correction result.
A kind of presetting according to a variety of to travel region in pedestrian of pedestrian's positioning correction method based on terrestrial reference The terrestrial reference for acquiring information passes through the ground near preset matching way acquisition current location in each step positioned using pedestrian Mark, and pedestrian's positioning result is modified according to terrestrial reference;The method to each step that pedestrian course calculates position into Row amendment, avoids the accumulation of position error;And a variety of terrestrial references by being arranged ensure that the essence waited in travel zone in pedestrian Really amendment;High-precision location navigation demand can be met to the full extent by the revised pedestrian's positioning result of the method.
Fig. 3 is that a kind of pedestrian based on terrestrial reference of the specific embodiment of the invention positions the structure chart of update the system.Such as Fig. 3 It is shown, the system comprises:
Terrestrial reference acquiring unit 310, the terrestrial reference acquiring unit 310 obtain area to be walked for confirming to travel region Landmark information in domain;The terrestrial reference includes physics terrestrial reference, earth magnetism terrestrial reference and WIFI terrestrial reference;
Further, the system also includes previously-scanned units;The previously-scanned unit is used in advance wait walk The scanning that region carries out landmark information is extracted;
The previously-scanned unit scan is described to make pedestrian change the physical location point of direction of travel in travel region As physics terrestrial reference, the physics terrestrial reference includes its corresponding position coordinates and its direction of travel information for changing pedestrian; The pre-selection scanning element scanning is in the corresponding position of the characteristic point for meeting preset rules to magnetic field strength in travel region For coordinate as earth magnetism terrestrial reference, the earth magnetism terrestrial reference includes the magnetic field strength information of its corresponding position coordinates and corresponding position; The previously-scanned unit scan is in the corresponding position coordinates conduct of the characteristic point to meet preset rules in travel region WIFI terrestrial reference, the WIFI terrestrial reference include the WIFI signal strength information of its corresponding position coordinates and corresponding position.
Further, described for determining that the preset rules of earth magnetism terrestrial reference include: the corresponding position of the earth magnetism terrestrial reference The horizontal component of magnetic field strength and at least one in vertical component are in peak value or valley;It is described to be used for determining WIFI Target preset rules include: that successively scanning is described to all paths in travel region, and will receive WIFI by predeterminated frequency Position where signal strength is as WIFI terrestrial reference.
Traveling parameter acquisition unit 320, the traveling parameter acquisition unit 320 for acquiring in pedestrian's traveling process in real time Traveling parameter, the traveling parameter include pedestrian advance angular velocity signal, pedestrian position magnetic field intensity signal with And the WIFI signal of pedestrian position.
Terrestrial reference matching primitives unit 330, the terrestrial reference matching primitives unit 330 is for confirming traveling parameter acquisition unit Whether the traveling parameter of 320 acquisitions meets preset rules, and is believed according to the terrestrial reference in the traveling parameter matching area for meeting rule Breath obtains matching terrestrial reference;
Further, the terrestrial reference matching primitives unit 330 is used to walk corresponding horizontal angular speed according to the preceding N currently walked Signal calculates accumulative rotational angle, when the accumulative rotational angle is higher than preset threshold, the terrestrial reference matching primitives unit 330 Judge that pedestrian's direction of travel changes;The terrestrial reference matching primitives unit 330 is used for to position working as reckoning by pedestrian The corresponding position of preceding step is the center of circle, is search physics terrestrial reference in radius with M meter;It is physically denoted as what search obtained as matchingly Mark;If described search obtains multiple physics terrestrial references, uses and set nearest be physically denoted as matching terrestrial reference away from current step.
Further, the terrestrial reference matching primitives unit 330 is for respectively to the horizontal component of magnetic field strength and vertical Component carries out inspection peak;When at least one of the horizontal component and vertical component are in peak value or valley, the terrestrial reference Computing unit 330 judges that pedestrian is near a certain earth magnetism terrestrial reference;
The terrestrial reference matching primitives unit 330 is used to be circle to position the corresponding position of currently step calculated by pedestrian The heart obtains one or more earth magnetism terrestrial references as candidate earth magnetism terrestrial reference for search in radius using P meters;
The earth magnetism feature of the candidate earth magnetism terrestrial reference and current location is calculated away from if the earth magnetism feature is away from less than default threshold When value, using the candidate earth magnetism terrestrial reference as matching terrestrial reference;
If the earth magnetism feature away from be less than preset threshold candidate earth magnetism be designated as multiple, using select earth magnetism feature away from The corresponding earth magnetism terrestrial reference of the smallest candidate's earth magnetism terrestrial reference is as matching terrestrial reference.
Further, the terrestrial reference matching primitives unit 330 is used to correspond to to position the current step calculated by pedestrian Position be the center of circle, with Q meter to search in radius, acquisition WIFI terrestrial reference;
The terrestrial reference matching primitives unit 330 calculates the WIFI signal of current step position, obtains WIFI signal intensity Vector;The time that the terrestrial reference matching primitives unit 330 calculates current step position WIFI signal intensity vector and search obtains Select the WIFI feature of WIFI terrestrial reference away from;
If the WIFI feature is away from preset threshold is less than, using candidate's WIFI terrestrial reference as matching terrestrial reference;If described When WIFI feature is designated as multiple away from the candidate WIFI for being less than preset threshold, using WIFI feature away from the smallest candidate's WIFI terrestrial reference As matching terrestrial reference.
Corrected Calculation unit 340, the corrected Calculation unit 340 is based on according to the terrestrial reference matching primitives unit 330 The matching terrestrial reference of calculation positions reckoning to the pedestrian currently walked and is modified.
Further, the corrected Calculation unit 340 is used for basis and is matchingly marked on the position to travel region to current Walking people, which positions, calculates that the step-length of result and course are modified;
The corrected Calculation unit 340 is used for material calculation correction factor;The step-length correction factor is matchingly mark Set after previous step amendment at a distance between position divided by current walking people position position after DR position and previous step amendment away from From quotient and previous step correction factor product;
The corrected Calculation unit 340 obtains the navigational calibration angle for calculating navigational calibration tangent of an angle value, and makes Current walking people is positioned with course angle and calculates that the course of result is modified;The navigational calibration tangent of an angle value is current step After positioning DR position and previous step amendment divided by current walking people at a distance from pedestrian's positioning DR position and matching landmark locations The quotient of the distance of position.
Further, described when the terrestrial reference matching primitives unit 330 is in current step while when obtaining multiple matching coordinates Corrected Calculation unit 340 be used to choose the terrestrial reference set in similar terrestrial reference closest to current step as such terrestrial reference most matchingly Mark calculates the corresponding correction result of each of multiple most matching terrestrial references;The corrected Calculation unit 340 is used for by default The corresponding weight distribution of multiple matching terrestrial references and each matchingly target correction result calculate and obtain final correction result.
Further, the previously-scanned unit is used to that the landmark information extracted to travel region scanning will to be selected in advance, presses It is arranged and is stored according to the corresponding near zone of each paths that can be walked;
The terrestrial reference matching primitives unit is used for the first search current path near zone when carrying out matching landmark information Landmark information.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the disclosure Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this specification.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose It replaces.The step of being related in this specification, which numbers, is only used for distinguishing each step, and the time being not limited between each step Or the relationship of logic, restriction unless the context clearly, otherwise the relationship between each step includes the case where various possible.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments In included certain features rather than other feature, but the combination of the feature of different embodiments means to be in the disclosure Within the scope of and form different embodiments.For example, embodiment claimed in detail in the claims is one of any Can in any combination mode come using.
The various component embodiments of the disclosure can be implemented in hardware, or to run on one or more processors Software module realize, or be implemented in a combination thereof.The disclosure is also implemented as executing side as described herein The some or all equipment or system program (for example, computer program and computer program product) of method.It is such It realizes that the program of the disclosure can store on a computer-readable medium, or can have the shape of one or more signal Formula.Such signal can be downloaded from an internet website to obtain, and perhaps be provided on the carrier signal or with any other shape Formula provides.
The disclosure is limited it should be noted that above-described embodiment illustrates rather than the disclosure, and ability Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.Word "comprising" is not arranged Except there are element or steps not listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of more A such element.The disclosure can be by means of including the hardware of several different elements and by means of properly programmed calculating Machine is realized.If several in these systems can be by same in the unit claim for listing dry systems Hardware branch embodies.
The above is only the specific embodiment of the disclosure, it is noted that for the ordinary skill people of this field Member for, do not depart from the disclosure spirit under the premise of, can make several improvements, modify and deform, these improve, modification, It is regarded as falling within the scope of protection of this application with deformation.

Claims (10)

1. a kind of pedestrian's positioning correction method based on terrestrial reference, which comprises
It obtains to the landmark information in travel region;The terrestrial reference includes physics terrestrial reference, earth magnetism terrestrial reference and WIFI terrestrial reference;
Traveling parameter in acquisition pedestrian's traveling process in real time, the traveling parameter include angular velocity signal, the row that pedestrian advances One of the magnetic field intensity signal of people position and the WIFI signal of pedestrian position are a variety of;
When the traveling parameter meets preset rules, according to the landmark information in the traveling parameter matching area, acquisition With terrestrial reference;
Reckoning is positioned to the pedestrian currently walked according to the matching terrestrial reference to be modified.
2. the method according to claim 1, wherein obtain to the landmark information in travel region before, it is described Method further include:
It is extracted in advance in the scanning for carrying out landmark information to travel region;
It scans in the corresponding position coordinates of physical location point to make pedestrian change direction of travel in travel region as object Terrestrial reference is managed, the physics terrestrial reference includes its corresponding position coordinates and its direction of travel information for changing pedestrian;Scanning exists The corresponding position coordinates of characteristic point for meeting preset rules to magnetic field strength in travel region are as earth magnetism terrestrial reference, describedly Magnetic terrestrial reference includes the magnetic field strength information of its corresponding position coordinates and corresponding position;Scanning is described to full in travel region For the corresponding position coordinates of the characteristic point of sufficient preset rules as WIFI terrestrial reference, the WIFI terrestrial reference includes its corresponding position coordinates And the WIFI signal strength information of corresponding position.
3. according to the method described in claim 2, it is characterized in that, the preset rules for determining earth magnetism terrestrial reference include: In the horizontal component and vertical component of the magnetic field strength of the corresponding position of the earth magnetism terrestrial reference at least one in peak value or Valley;The preset rules for determining WIFI terrestrial reference include: described in successively scanning to all paths in travel region, and Using the position as where predeterminated frequency receives WIFI signal intensity as WIFI terrestrial reference.
4. according to the method described in claim 1, it is characterized by:
The preset rules that the angular velocity signal meets as traveling parameter are as follows: corresponding horizontal angle is walked according to the preceding N currently walked Speed signal calculates accumulative rotational angle, when the accumulative rotational angle is higher than preset threshold, then judges pedestrian's direction of travel It changes;
It is search physics terrestrial reference in radius with M meter to position the corresponding position of currently step calculated as the center of circle by pedestrian;
It is physically denoted as what search obtained as matching terrestrial reference;If described search obtains multiple physics terrestrial references, using away from current step Position is nearest to be physically denoted as to match terrestrial reference.
5. according to the method described in claim 1, it is characterized by:
The preset rules that the magnetic field intensity signal meets as traveling parameter are as follows: respectively to the horizontal component of magnetic field strength and Vertical component carries out inspection peak;When at least one of the horizontal component and vertical component are in peak value or valley, judge to go People is near a certain earth magnetism terrestrial reference;
To position the corresponding position of currently step calculated as the center of circle by pedestrian, with P meter for search acquisition one in radius or Multiple earth magnetism terrestrial references are as candidate earth magnetism terrestrial reference;
The earth magnetism feature of the candidate earth magnetism terrestrial reference and current location is calculated away from if the earth magnetism feature is away from less than preset threshold When, using the candidate earth magnetism terrestrial reference as matching terrestrial reference;
If the earth magnetism feature is designated as multiple away from the candidate earth magnetism for being less than preset threshold, select earth magnetism feature away from the smallest time Selection of land magnetic terrestrial reference is as matching terrestrial reference.
6. according to the method described in claim 1, it is characterized by:
The preset rules that the WIFI signal meets as traveling parameter are as follows: corresponded to to position the current step calculated by pedestrian Position be the center of circle, with Q meter to search in radius, acquisition candidate's WIFI terrestrial reference;
The WIFI signal for calculating current step position, obtains WIFI signal intensity vector;
Calculate current step position WIFI signal intensity vector and the WIFI feature of candidate WIFI terrestrial reference that search obtains away from;If When the WIFI feature is away from preset threshold is less than, using candidate's WIFI terrestrial reference as matching terrestrial reference;
If the WIFI feature is designated as multiple away from the candidate WIFI for being less than preset threshold, using WIFI feature away from the smallest Candidate WIFI terrestrial reference is as matching terrestrial reference.
7. according to the method described in claim 1, it is characterized by: according to the position to travel region is matchingly marked on to current Walking people, which positions, calculates that the step-length of result and course are modified;
The step-length is modified by step-length correction factor;The step-length correction factor is matching landmark locations and previous step Distance after amendment between position divided by current walking people position DR position and previous step correct after quotient at a distance from position with it is upper The product of one step correction factor;
The navigational calibration angle is obtained by calculating navigational calibration tangent of an angle value;Current walking people positioning is pushed away using course angle The course for calculating result is modified;The navigational calibration tangent of an angle value be current walking people position DR position with match terrestrial reference The distance of position positions quotient of the DR position at a distance from position after previous step amendment divided by current walking people.
8. method according to claim 1 or claim 7, it is characterised in that: when currently walking while obtaining multiple matching terrestrial references, Choose most matching terrestrial reference of the terrestrial reference set in similar terrestrial reference closest to current step as such terrestrial reference;Calculate it is multiple most matchingly The corresponding correction result of each of mark;By the corresponding weight distribution of preset multiple matching terrestrial references and it is each matchingly Target correction result, which calculates, obtains final correction result.
9. according to the method described in claim 2, it is characterized by:
It will be selected in advance the landmark information extracted to travel region scanning, according to the corresponding near zone of each paths that can be walked It is arranged and is stored.
10. a kind of pedestrian based on terrestrial reference positions update the system, the system comprises:
Terrestrial reference acquiring unit, the terrestrial reference acquiring unit is for obtaining to the landmark information in travel region;The terrestrial reference includes Physics terrestrial reference, earth magnetism terrestrial reference and WIFI terrestrial reference;
Traveling parameter acquisition unit, the traveling parameter acquisition unit for acquiring the traveling ginseng in pedestrian's traveling process in real time Number, the traveling parameter include the angular velocity signal of pedestrian's traveling, the magnetic field intensity signal of pedestrian position and pedestrian institute WIFI signal in position;
Terrestrial reference matching primitives unit, the terrestrial reference matching primitives unit are used to confirm the traveling ginseng of traveling parameter acquisition unit acquisition Whether number meets preset rules, and according to the landmark information in the traveling parameter matching area for meeting rule, obtains matching terrestrial reference;
Corrected Calculation unit, the corrected Calculation unit are used for the matching terrestrial reference pair calculated according to the terrestrial reference matching primitives unit The pedestrian currently walked positions reckoning and is modified.
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