CN109459030B - Pedestrian positioning correction method and system based on landmarks - Google Patents
Pedestrian positioning correction method and system based on landmarks Download PDFInfo
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- CN109459030B CN109459030B CN201811426120.2A CN201811426120A CN109459030B CN 109459030 B CN109459030 B CN 109459030B CN 201811426120 A CN201811426120 A CN 201811426120A CN 109459030 B CN109459030 B CN 109459030B
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
- G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention discloses a pedestrian positioning correction method based on landmarks, which comprises the following steps: confirming the area to be walked and obtaining landmark information in the area to be walked; the landmarks comprise physical landmarks, geomagnetic landmarks and WIFI landmarks; acquiring travelling parameters in the travelling process of the pedestrian in real time, wherein the travelling parameters comprise an angular velocity signal of the travelling of the pedestrian, a magnetic field intensity signal of the position of the pedestrian and a WIFI signal of the position of the pedestrian; when the travelling parameters meet a preset rule, obtaining matched landmarks according to landmark information in the travelling parameter matching area; correcting the pedestrian dead reckoning of the current step according to the matched landmarks; the method and the system correct the pedestrian course calculation positioning of each step, thereby avoiding the accumulation of positioning errors; accurate correction in the area where the pedestrian waits to travel is ensured through the arranged multiple landmarks; the pedestrian positioning result corrected by the method and the system can meet the high-precision positioning navigation requirement to the maximum extent.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a pedestrian positioning correction method and system based on landmarks.
Background
Positioning navigation becomes the most basic requirement of people for daily travel, and particularly, higher requirements are provided for the positioning navigation precision in some special fields, and along with the abundance of use scenes, the problems of the positioning navigation precision and the communication with a base station and the like in the traditional beacon-based environment are highlighted, for example, the indoor positioning navigation has influence on the precision due to the blockage of a house wall; the pedestrian dead reckoning technology is developed by taking the measures of inertia to sense the data of acceleration, angular velocity, magnetic force and the like of a person in the advancing process, and calculates the step length and the direction of the person in the advancing process by utilizing the data, so that the purpose of positioning and navigating the pedestrian is achieved in the environment without a remote beacon;
each step of the dead reckoning of the pedestrian is completed on the basis of the previous step, and the deviation of each step is accumulated; under the conditions that the measurement accuracy of inertial measurement equipment worn by pedestrians is poor or the gait detection and the steering detection of the pedestrians are not timely, the pedestrian dead reckoning technology may have large positioning errors.
Disclosure of Invention
The invention provides a pedestrian positioning correction method and system based on landmarks, and aims to solve the problem of positioning error in pedestrian dead reckoning in the prior art.
The present disclosure provides a pedestrian positioning correction method based on landmarks, the method comprising:
obtaining landmark information in a region to be walked; the landmarks comprise physical landmarks, geomagnetic landmarks and WIFI landmarks;
acquiring travelling parameters in the travelling process of the pedestrian in real time, wherein the travelling parameters comprise one or more of an angular velocity signal of the travelling of the pedestrian, a magnetic field intensity signal of the position of the pedestrian and a WIFI signal of the position of the pedestrian;
when the travelling parameters meet a preset rule, obtaining matched landmarks according to landmark information in the travelling parameter matching area;
and correcting the pedestrian dead reckoning of the current step according to the matched landmarks.
Further, before obtaining landmark information in the area to be walked, the method further includes:
scanning and extracting landmark information in a region to be walked in advance;
scanning position coordinates corresponding to a physical position point which enables the pedestrian to change the traveling direction in the area to be walked as a physical landmark, wherein the physical landmark comprises the corresponding position coordinates and traveling direction information which enables the pedestrian to change; scanning position coordinates corresponding to the feature points with the magnetic field intensity meeting a preset rule in the region to be walked as geomagnetic landmarks, wherein the geomagnetic landmarks comprise corresponding position coordinates and magnetic field intensity information of corresponding positions; and scanning position coordinates corresponding to the feature points meeting the preset rules in the area to be walked as WIFI landmarks, wherein the WIFI landmarks comprise corresponding position coordinates and WIFI signal intensity information of corresponding positions.
Further, the preset rule for determining the geomagnetic landmark includes: at least one of a horizontal component and a vertical component of the magnetic field intensity at a position corresponding to the geomagnetic landmark is at a peak value or a valley value; the preset rules for determining the WIFI landmark comprise: and sequentially scanning all paths in the area to be walked, and taking the position where the WIFI signal strength is received according to the preset frequency as a WIFI landmark.
Further, the angular velocity signal satisfies a preset rule as a traveling parameter: calculating an accumulated rotation angle according to a horizontal angular velocity signal corresponding to the previous N steps of the current step, and judging that the advancing direction of the pedestrian changes when the accumulated rotation angle is higher than a preset threshold value;
searching a physical landmark by taking a position corresponding to the current step calculated by the pedestrian positioning as a circle center and taking M meters as a radius;
taking the physical landmark obtained by searching as a matching landmark; and if the plurality of physical landmarks are obtained by the search, adopting the physical landmark closest to the current step position as the matching landmark.
Further, the preset rule that the magnetic field intensity signal as the traveling parameter satisfies is as follows: respectively detecting peaks of a horizontal component and a vertical component of the magnetic field intensity; when at least one of the horizontal component and the vertical component is at a peak value or a valley value, judging that the pedestrian is positioned near a certain geomagnetic landmark;
searching and obtaining one or more geomagnetic landmarks as candidate geomagnetic landmarks in a position corresponding to a current step calculated by pedestrian positioning as a circle center and within a radius of P meters;
calculating the geomagnetic feature distance between the candidate geomagnetic landmark and the current position, and taking the candidate geomagnetic landmark as a matched landmark if the geomagnetic feature distance is smaller than a preset threshold value;
and if the geomagnetic characteristic distances are smaller than the preset threshold value, selecting the geomagnetic landmark corresponding to the candidate geomagnetic landmark with the minimum geomagnetic characteristic distance as the matched landmark.
Further, the preset rule that the WIFI signal satisfies as a traveling parameter is: searching in a radius of Q meters by taking the position corresponding to the current step calculated by the pedestrian positioning as the center of a circle to obtain a WIFI landmark;
calculating a WIFI signal of the position of the current step to obtain a WIFI signal intensity vector;
calculating a WIFI signal intensity vector of the position where the current step is located and a WIFI characteristic distance of the candidate WIFI landmark obtained through searching; if the WIFI characteristic distance is smaller than a preset threshold value, taking the candidate WIFI landmark as a matching landmark;
and if a plurality of candidate WIFI landmarks with the WIFI characteristic distances smaller than a preset threshold value are available, adopting the candidate WIFI landmark with the minimum WIFI characteristic distance as a matching landmark.
Further, correcting the step length and the course of the current step pedestrian dead reckoning result according to the position of the matched landmark in the area to be walked;
correcting the step length through a step length correction coefficient; the step length correction coefficient is the product of the quotient of the distance between the matched landmark position and the position corrected in the previous step divided by the distance between the current walker positioning calculation position and the position corrected in the previous step and the correction coefficient in the previous step;
obtaining the course correction angle by calculating the tangent value of the course correction angle; correcting the course of the current positioning calculation result of the walker by using the course angle; the tangent value of the course correcting angle is the quotient of the distance between the current walker dead reckoning position and the matched landmark position divided by the distance between the current walker dead reckoning position and the position corrected in the last step.
Further, when a plurality of matched landmarks are obtained at the current step, the landmark closest to the current step position in the same class landmarks is selected as the best matched landmark of the class landmark; calculating a correction result corresponding to each of the plurality of best matching landmarks; and calculating to obtain a final correction result through the preset weight distribution corresponding to a plurality of matching landmarks and the correction result of each matching landmark.
And further, arranging and storing the preselected landmark information scanned and extracted in the area to be walked according to the adjacent area corresponding to each walkable path.
The present disclosure provides a landmark-based pedestrian location correction system, the system comprising:
the landmark acquiring unit is used for confirming the area to be walked and acquiring landmark information in the area to be walked; the landmarks comprise physical landmarks, geomagnetic landmarks and WIFI landmarks;
the device comprises a travelling parameter acquisition unit, a monitoring unit and a control unit, wherein the travelling parameter acquisition unit is used for acquiring travelling parameters in the travelling process of the pedestrian in real time, and the travelling parameters comprise an angular velocity signal of the travelling of the pedestrian, a magnetic field intensity signal of the position of the pedestrian and a WIFI signal of the position of the pedestrian;
the landmark matching calculation unit is used for confirming whether the travelling parameters acquired by the travelling parameter acquisition unit meet the preset rules or not and acquiring matched landmarks according to landmark information in the travelling parameter matching area meeting the rules;
and the correction calculation unit is used for correcting the pedestrian dead reckoning of the current step according to the matched landmarks calculated by the landmark matching calculation unit.
Further, the system further comprises a pre-scanning unit; the pre-scanning unit is used for scanning and extracting landmark information in the area to be walked in advance;
the pre-scanning unit scans a physical position point which enables a pedestrian to change the traveling direction in the area to be walked as a physical landmark, wherein the physical landmark comprises a corresponding position coordinate and traveling direction information which enables the pedestrian to change; the preselection scanning unit scans position coordinates corresponding to the characteristic points with the magnetic field intensity meeting a preset rule in the area to be walked as geomagnetic landmarks, wherein the geomagnetic landmarks comprise corresponding position coordinates and magnetic field intensity information of corresponding positions; the pre-scanning unit scans position coordinates corresponding to the feature points meeting preset rules in the area to be walked as WIFI landmarks, and the WIFI landmarks comprise corresponding position coordinates and WIFI signal intensity information of corresponding positions.
Further, the preset rule for determining the geomagnetic landmark includes: at least one of a horizontal component and a vertical component of the magnetic field intensity at a position corresponding to the geomagnetic landmark is at a peak value or a valley value; the preset rules for determining the WIFI landmark comprise: and sequentially scanning all paths in the area to be walked, and taking the position where the WIFI signal strength is received according to the preset frequency as a WIFI landmark.
Further, the landmark matching calculation unit is configured to calculate an accumulated rotation angle according to a horizontal angular velocity signal corresponding to N previous steps of the current step, and when the accumulated rotation angle is higher than a preset threshold, the landmark matching calculation unit determines that the pedestrian traveling direction changes;
the landmark matching calculation unit is used for searching a physical landmark by taking the position corresponding to the current step calculated by the pedestrian positioning as the center of a circle and taking M meters as the radius; taking the physical landmark obtained by searching as a matching landmark; and if the plurality of physical landmarks are obtained by the search, adopting the physical landmark closest to the current step position as the matching landmark.
Further, the landmark matching calculation unit is used for respectively detecting peaks of a horizontal component and a vertical component of the magnetic field intensity; when at least one of the horizontal component and the vertical component is at a peak value or a valley value, the landmark matching calculation unit judges that the pedestrian is near a certain geomagnetic landmark;
the landmark matching calculation unit is used for searching and obtaining one or more geomagnetic landmarks as candidate geomagnetic landmarks in a position corresponding to the current step calculated by the pedestrian positioning as the center of a circle and in a radius of P meters;
calculating the geomagnetic feature distance between the candidate geomagnetic landmark and the current position, and taking the candidate geomagnetic landmark as a matched landmark if the geomagnetic feature distance is smaller than a preset threshold value;
and if the geomagnetic characteristic distances are smaller than the preset threshold value, selecting the geomagnetic landmark corresponding to the candidate geomagnetic landmark with the minimum geomagnetic characteristic distance as the matched landmark.
Further, the landmark matching calculation unit is used for searching in a radius of Q meters by taking the position corresponding to the current step calculated by the pedestrian positioning as the center of a circle, so as to obtain a WIFI landmark;
the landmark matching calculation unit calculates a WIFI signal of the current step position to obtain a WIFI signal intensity vector; the landmark matching calculation unit calculates the WIFI signal intensity vector of the current step position and the WIFI characteristic distance of the candidate WIFI landmarks obtained through searching; if the WIFI characteristic distance is smaller than a preset threshold value, taking the candidate WIFI landmark as a matching landmark; and if a plurality of candidate WIFI landmarks with the WIFI characteristic distances smaller than a preset threshold value are available, adopting the candidate WIFI landmark with the minimum WIFI characteristic distance as a matching landmark.
Furthermore, the correction calculation unit is used for correcting the step length and the course of the current step pedestrian dead reckoning result according to the position of the matched landmark in the area to be walked;
the correction calculation unit is used for calculating a step correction coefficient; the step length correction coefficient is the product of the quotient of the distance between the matched landmark position and the position corrected in the previous step divided by the distance between the current walker positioning calculation position and the position corrected in the previous step and the correction coefficient in the previous step;
the correction calculation unit is used for calculating the tangent value of the course correction angle to obtain the course correction angle and correcting the course of the current pedestrian dead reckoning result by using the course angle; the tangent value of the course correcting angle is the quotient of the distance between the current walker dead reckoning position and the matched landmark position divided by the distance between the current walker dead reckoning position and the position corrected in the last step.
Further, when the landmark matching calculation unit obtains a plurality of matching coordinates at the current step, the correction calculation unit is configured to select a landmark closest to the current step position from the same class landmarks as a best matching landmark of the class landmarks, and calculate a correction result corresponding to each of the plurality of best matching landmarks; the correction calculation unit is used for calculating and obtaining a final correction result through the weight distribution corresponding to a plurality of preset matching landmarks and the correction result of each matching landmark.
Further, the pre-scanning unit is used for sorting and storing the landmark information which is pre-selected and extracted in the area to be walked according to the adjacent area corresponding to each walkable path.
The beneficial effects of the above scheme include: a pedestrian positioning correction method and system based on landmarks are provided, landmarks according to various acquired information are preset in a to-be-walked area of a pedestrian, the landmarks near the current position are obtained in a preset matching mode when each step of pedestrian positioning is used, and the pedestrian positioning result is corrected according to the landmarks; the method and the system correct the positioning of each step calculated by the pedestrian course, thereby avoiding the accumulation of positioning errors; accurate correction in the area where the pedestrian waits to travel is ensured through the arranged multiple landmarks; the pedestrian positioning result corrected by the method and the system can meet the high-precision positioning navigation requirement to the maximum extent.
Drawings
A more complete understanding of exemplary embodiments of the present invention may be had by reference to the following drawings in which:
fig. 1 is a flowchart of a pedestrian location correction method based on landmarks according to an embodiment of the present invention;
fig. 2 is a flowchart of a pedestrian positioning correction method for matching a physical landmark, a geomagnetic landmark, and a WIFI landmark according to an embodiment of the present invention;
fig. 3 is a block diagram of a landmark based pedestrian location correction system in accordance with an embodiment of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Fig. 1 is a flowchart of a method for correcting pedestrian positioning based on landmarks according to an embodiment of the present invention, as shown in fig. 1, the method includes:
before the pedestrian positioning correction is carried out, the method also comprises a pre-step, namely, the scanning and the extraction of landmark information are carried out in the area to be walked in advance;
the area to be walked refers to an area which can realize positioning and correction of pedestrians and is covered by the method, and further refers to all walkable paths in the area; before the real-time positioning of the pedestrian, comprehensively scanning all paths of the area to obtain all landmark information in the area, and storing the landmark information in a database; the area to be walked can be a room, a building, a block or even a city or larger; the time period of the whole scanning or the partial scanning again can be determined according to the size of the area to be walked, so that the accuracy of the scanning result of the area to be walked is ensured; the position corresponding to each step of pedestrian advancing is in the area to be walked; and the landmark information in the area to be walked is obtained, namely the landmark information in the area to be walked is extracted from the corresponding database.
The landmarks comprise physical landmarks, geomagnetic landmarks and WIFI landmarks;
scanning a physical location point that causes a pedestrian to change a direction of travel within the area as a physical landmark; the physical landmarks comprise position coordinates corresponding to intersections, stair openings and barriers in the area to be walked; the physical landmark comprises corresponding position coordinates and traveling direction information of the physical landmark, wherein the traveling direction information enables the pedestrian to change;
scanning position coordinates corresponding to the feature points in the region, of which the magnetic field intensity meets a preset rule, as geomagnetic landmarks; the geomagnetic landmark comprises a corresponding position coordinate and magnetic field intensity information of a corresponding position; in this embodiment, the preset rule for determining a geomagnetic landmark includes: at least one of a horizontal component and a vertical component of the magnetic field strength at a position corresponding to the geomagnetic landmark is a peak value or a valley value.
Scanning position coordinates corresponding to feature points of which the WIFI signals meet preset rules in the region to serve as WIFI landmarks, wherein the WIFI landmarks comprise the corresponding position coordinates and WIFI signal intensity information of corresponding positions; in this embodiment, the preset rule for determining the WIFI landmark includes: sequentially scanning all paths in the area to be walked, and taking the position where the WIFI signal strength is received according to a preset frequency as a WIFI landmark; in the process of gradually scanning the whole area to be walked, receiving WIFI signals according to a set frequency, for example, receiving the WIFI signals every 3s after converting the WIFI signals into time, and in the scanning process, when scanning is carried out on the whole walking area, particularly on a certain path, receiving the WIFI signals every 3s, and recording the WIFI signals as WIFI landmarks at the current position of the received signals, wherein the WIFI landmarks comprise the coordinates of the current position and WIFI signal information; the primary WIFI signal comprises a WIFI signal intensity vector synthesized by WIFI signals sent by a plurality of WIFI signal sources.
in the embodiment, the angular speed signal of the pedestrian is acquired by a gyroscope arranged in equipment held or worn by the pedestrian; the sampling frequency is 50Hz, and the output signal of the gyroscope is converted into an angular velocity signal under an east-north-sky coordinate system; emphasizes on judging whether the pedestrian changes the direction or not through the angular velocity signal in the horizontal direction;
the magnetic field intensity signal of the position of the pedestrian is acquired by a magnetic sensor arranged in equipment which is held or worn by the pedestrian, in the embodiment, the acquisition frequency is also 50Hz, and the output signal of the magnetic sensor is converted into a magnetic field intensity signal under an east-north-sky coordinate system, namely a magnetic field intensity horizontal component, a magnetic field intensity vertical component and a magnetic inclination angle;
the pedestrian WIFI signal of the position is acquired through communication equipment arranged in equipment held or worn by the pedestrian, and a multi-dimensional WIFI signal intensity vector is generated according to a plurality of collected WIFI signals of the current position.
the travelling parameters related in the embodiment comprise an angular velocity signal of the pedestrian, a magnetic field intensity signal of the position of the pedestrian and a WIFI signal of the position of the pedestrian;
fig. 2 is a flowchart of a pedestrian positioning correction method for matching a physical landmark, a geomagnetic landmark, and a WIFI landmark according to an embodiment of the present invention, as shown in fig. 2:
when the angular speed signal is monitored and serves as a travelling parameter, the matching landmark can be obtained according to the landmark information in the travelling parameter matching area when the following preset rules are met;
if the number of steps from the step of which the pedestrian advancing direction is judged to be changed to the current step last time is smaller than a preset N value, calculating an accumulated rotating angle by taking the horizontal angular velocity corresponding to the step of which the pedestrian advancing direction is judged to be changed to the current step last time;
in this embodiment, N ═ 6 is taken, that is, the cumulative rotation angle ∈ is calculated by using a window with a length of 6 steps;
when the proportion is greater than the preset threshold value pi/4, the pedestrian is considered to turn, and the traveling direction is changed;
if the physical landmark is obtained by searching, the change of the traveling direction of the pedestrian in a passive mode due to the physical landmark is shown; furthermore, each of the physical landmarks corresponds to an angle range within which the pedestrian should change direction, and when a physical landmark is searched, whether the pedestrian direction change angle meets the angle range of the physical landmark is also judged; for example, if a physical landmark is a post, it changes direction in the range of-90 to 90; if the pedestrian turns 180 degrees nearby, the direction of travel may not be changed by the pillar;
if the physical landmark is not searched, the pedestrian may actively change the traveling direction, and the search through the physical landmark is not applicable any more.
When the magnetic field intensity signal is monitored and used as a travelling parameter to meet the following preset rule, a matched landmark can be obtained according to landmark information in the travelling parameter matching area;
because the magnetic field intensity is continuous in each component, the peak detection modes comprise various modes, and absolute value comparison can be carried out through real-time acquisition speed aiming at a single component; the peak value can also be obtained by calculating the real-time acceleration;
when the geomagnetic landmarks are collected, taking a point at which at least one of the horizontal component and the vertical component is at a peak value or a valley value as the geomagnetic landmark, and collecting corresponding position coordinates; when a certain magnetic field intensity component of a pedestrian collected in real time also reaches a peak value or a valley value, the fact that the point where the pedestrian is located is close to a preset geomagnetic landmark is shown;
the calculation formula of the geomagnetic characteristic distance is as follows:
characteristic distance d of geomagnetismGeometry+dFeature(s)；
VLevel ofHorizontal component peak-to-valley condition I;
Vis perpendicular to| M | vertical component peak-to-valley condition;
wherein I is a magnetic inclination angle, and M is a magnetic field intensity;
and if the geomagnetic characteristic distances are smaller than the preset threshold value, selecting the geomagnetic landmark corresponding to the candidate geomagnetic landmark with the minimum geomagnetic characteristic distance as the matched landmark.
When monitoring a WIFI signal, when the WIFI signal as a travelling parameter meets the following preset rule, a matched landmark can be obtained according to landmark information in the travelling parameter matching area;
and if the plurality of WIFI landmarks are obtained through searching, adopting the WIFI landmark with the minimum WIFI characteristic distance as a matching landmark.
The calculation formula of the WIFI characteristic distance is as follows:
WIFI characteristic distance dGeometry+dFeature(s)；
Wherein d isGeometryGeometric distance, d, from the current step to the candidate WIFI landmarkFeature(s)The cosine similarity value of the signal intensity vector of the WIFI signal in the current step and the signal intensity vector of the candidate WIFI landmark position is obtained; k is a preset matching constant;
the WIFI characteristic distance is used for judging whether the WIFI signal intensity vector of the current step is similar to the signal intensity of the candidate WIFI landmark or not mainly through cosine similarity; meanwhile, in order to avoid matching to points which are far apart in the whole path and have similar signal strength, the geometric distance from the current step to the candidate WIFI landmark is added to avoid the problem.
And step 140, correcting the pedestrian dead reckoning of the current step according to the matched landmarks.
Correcting the step length and the course of the current step pedestrian dead reckoning result according to the position of the matched landmark in the area to be walked;
correcting the step length through a step length correction coefficient; the step length correction coefficient is the product of the quotient of the distance between the matched landmark position and the position corrected in the previous step divided by the distance between the current walker positioning calculation position and the position corrected in the previous step and the correction coefficient in the previous step;
taking this embodiment as an example: p1(x1，y1) Dead reckoning position, P, for the current pedestrian0(x0，y0) For the position corrected in the previous step, P2(x2，y2) Is the matching landmark position;
step size correction factor
Wherein f is0For the last step, which may be a preset correction factor,
obtaining the course correction angle by calculating the tangent value of the course correction angle; correcting the course of the current positioning calculation result of the walker by using the course angle; the tangent value of the course correcting angle is the quotient of the distance between the current walker dead reckoning position and the matched landmark position divided by the distance between the current walker dead reckoning position and the position corrected in the last step.
Taking this embodiment as an example, the course correction angle is θ ≈ tan-1(P2P1/P0P1) (ii) a Wherein the content of the first and second substances,
further, the landmark information which is preselected and extracted in the area to be walked is sorted and stored according to the adjacent area corresponding to each walkable path;
and when the matching landmark information is subsequently carried out, preferentially searching the landmark information of the area near the current path.
Further, when a plurality of matched landmarks are obtained at the current step, the landmark closest to the current step position in the same class landmarks is selected as the best matched landmark of the class landmark; calculating a correction result corresponding to each of the plurality of best matching landmarks; and calculating to obtain a final correction result through the preset weight distribution corresponding to a plurality of matching landmarks and the correction result of each matching landmark.
For example: when the plurality of matching landmarks obtained at the current step are all physical landmarks, selecting the landmark closest to the current step position in the plurality of physical landmarks as the best matching landmark of the class of landmarks; if only one best matching landmark exists, the correction result calculated by the best matching landmark is the final correction result;
when a plurality of matching landmarks obtained at the current step are a physical landmark and two geomagnetic landmarks, the physical landmark is the best matching landmark in the physical landmark class, and the landmark closest to the current step position in the two geomagnetic landmarks is selected as the best matching landmark of the class landmark; at the moment, the correction results of the best matching landmark corresponding to the physical landmark and the geomagnetic landmark are respectively calculated, and the final correction result can be obtained through preset weight distribution and calculation of the correction results.
The pedestrian positioning correction method based on the landmarks presets landmarks according to various acquired information in a to-be-walked area of a pedestrian, acquires the landmarks near the current position in a preset matching mode when each step of pedestrian positioning is used, and corrects the pedestrian positioning result according to the landmarks; the method corrects the positioning of each step calculated by the heading of the pedestrian, thereby avoiding the accumulation of positioning errors; accurate correction in the area where the pedestrian waits to travel is ensured through the arranged multiple landmarks; the pedestrian positioning result corrected by the method can meet the high-precision positioning navigation requirement to the maximum extent.
Fig. 3 is a block diagram of a landmark based pedestrian location correction system in accordance with an embodiment of the present invention. As shown in fig. 3, the system includes:
the landmark acquiring unit 310 is used for confirming the area to be walked and acquiring landmark information in the area to be walked; the landmarks comprise physical landmarks, geomagnetic landmarks and WIFI landmarks;
further, the system further comprises a pre-scanning unit; the pre-scanning unit is used for scanning and extracting landmark information in a region to be walked in advance;
the pre-scanning unit scans a physical position point which enables a pedestrian to change the traveling direction in the area to be walked as a physical landmark, wherein the physical landmark comprises a corresponding position coordinate and traveling direction information which enables the pedestrian to change; the preselection scanning unit scans position coordinates corresponding to the characteristic points with the magnetic field intensity meeting a preset rule in the area to be walked as geomagnetic landmarks, wherein the geomagnetic landmarks comprise corresponding position coordinates and magnetic field intensity information of corresponding positions; the pre-scanning unit scans position coordinates corresponding to the feature points meeting preset rules in the area to be walked as WIFI landmarks, and the WIFI landmarks comprise corresponding position coordinates and WIFI signal intensity information of corresponding positions.
Further, the preset rule for determining the geomagnetic landmark includes: at least one of a horizontal component and a vertical component of the magnetic field intensity at a position corresponding to the geomagnetic landmark is at a peak value or a valley value; the preset rules for determining the WIFI landmark comprise: and sequentially scanning all paths in the area to be walked, and taking the position where the WIFI signal strength is received according to the preset frequency as a WIFI landmark.
The device comprises a travelling parameter acquisition unit 320, wherein the travelling parameter acquisition unit 320 is used for acquiring travelling parameters of a pedestrian in a travelling process in real time, and the travelling parameters comprise an angular velocity signal of the pedestrian, a magnetic field intensity signal of the position of the pedestrian and a WIFI signal of the position of the pedestrian.
The landmark matching calculation unit 330 is configured to determine whether the travel parameters acquired by the travel parameter acquisition unit 320 satisfy a preset rule, and obtain a matching landmark according to landmark information in a travel parameter matching area satisfying the rule;
further, the landmark matching calculating unit 330 is configured to calculate an accumulated rotation angle according to a horizontal angular velocity signal corresponding to the previous N steps of the current step, and when the accumulated rotation angle is higher than a preset threshold, the landmark matching calculating unit 330 determines that the pedestrian traveling direction changes; the landmark matching calculation unit 330 is configured to search for a physical landmark with a position corresponding to the current step estimated by pedestrian positioning as a center of a circle and M meters as a radius; taking the physical landmark obtained by searching as a matching landmark; and if the plurality of physical landmarks are obtained by the search, adopting the physical landmark closest to the current step position as the matching landmark.
Further, the landmark matching calculation unit 330 is configured to perform peak detection on the horizontal component and the vertical component of the magnetic field strength respectively; when at least one of the horizontal component and the vertical component is at a peak or a valley, the landmark matching calculation unit 330 determines that the pedestrian is near a certain geomagnetic landmark;
the landmark matching calculation unit 330 is configured to search for one or more geomagnetic landmarks as candidate geomagnetic landmarks within a radius of P meters from a position corresponding to a current step derived by pedestrian positioning as a center of a circle;
calculating the geomagnetic feature distance between the candidate geomagnetic landmark and the current position, and taking the candidate geomagnetic landmark as a matched landmark if the geomagnetic feature distance is smaller than a preset threshold value;
and if the geomagnetic characteristic distances are smaller than the preset threshold value, selecting the geomagnetic landmark corresponding to the candidate geomagnetic landmark with the minimum geomagnetic characteristic distance as the matched landmark.
Further, the landmark matching calculation unit 330 is configured to search within a radius of Q meters and with a position corresponding to the current step calculated by pedestrian positioning as a center of a circle, so as to obtain a WIFI landmark;
the landmark matching calculation unit 330 calculates a WIFI signal of the current step position to obtain a WIFI signal intensity vector; the landmark matching calculation unit 330 calculates the WIFI signal intensity vector of the current step position and the WIFI feature distance of the candidate WIFI landmarks obtained by searching;
if the WIFI characteristic distance is smaller than a preset threshold value, taking the candidate WIFI landmark as a matching landmark; and if a plurality of candidate WIFI landmarks with the WIFI characteristic distances smaller than a preset threshold value are available, adopting the candidate WIFI landmark with the minimum WIFI characteristic distance as a matching landmark.
A correction calculation unit 340, wherein the correction calculation unit 340 is configured to correct the pedestrian dead reckoning of the current step according to the matching landmark calculated by the landmark matching calculation unit 330.
Further, the correction calculation unit 340 is configured to correct the step length and the heading of the current step of the pedestrian dead reckoning result according to the position of the matching landmark in the area to be walked;
the correction calculation unit 340 is configured to calculate a step correction coefficient; the step length correction coefficient is the product of the quotient of the distance between the matched landmark position and the position corrected in the previous step divided by the distance between the current walker positioning calculation position and the position corrected in the previous step and the correction coefficient in the previous step;
the correction calculation unit 340 is configured to calculate a tangent value of a heading correction angle to obtain the heading correction angle, and correct the heading of the current walker dead reckoning result by using the heading angle; the tangent value of the course correcting angle is the quotient of the distance between the current walker dead reckoning position and the matched landmark position divided by the distance between the current walker dead reckoning position and the position corrected in the last step.
Further, when the landmark matching calculation unit 330 obtains multiple matching coordinates at the current step, the correction calculation unit 340 is configured to select a landmark closest to the current step position from the similar landmarks as a best matching landmark of the similar landmarks, and calculate a correction result corresponding to each of the multiple best matching landmarks; the modification calculating unit 340 is configured to calculate a final modification result according to the weight distribution corresponding to a plurality of preset matching landmarks and the modification result of each matching landmark.
Further, the pre-scanning unit is used for sorting and storing the landmark information which is pre-selected and extracted in the area to be walked according to the adjacent area corresponding to each walkable path;
the landmark matching calculation unit is used for preferentially searching the landmark information of the area near the current path when matching the landmark information.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the disclosure may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Reference to step numbers in this specification is only for distinguishing between steps and is not intended to limit the temporal or logical relationship between steps, which includes all possible scenarios unless the context clearly dictates otherwise.
Moreover, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the disclosure and form different embodiments. For example, any of the embodiments claimed in the claims can be used in any combination.
Various component embodiments of the disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. The present disclosure may also be embodied as device or system programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present disclosure may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the disclosure, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware.
The foregoing is directed to embodiments of the present disclosure, and it is noted that numerous improvements, modifications, and variations may be made by those skilled in the art without departing from the spirit of the disclosure, and that such improvements, modifications, and variations are considered to be within the scope of the present disclosure.
Claims (5)
1. A landmark-based pedestrian positioning correction method, the method comprising:
obtaining landmark information in a region to be walked; the landmarks comprise physical landmarks, geomagnetic landmarks and WIFI landmarks; the area to be walked is a room, a building, a block or a city;
the position coordinates of the physical landmarks are position coordinates corresponding to intersections, stair openings or obstacles in the area to be walked;
acquiring travelling parameters in the travelling process of the pedestrian in real time, wherein the travelling parameters comprise an angular velocity signal of the travelling of the pedestrian, a magnetic field intensity signal of the position of the pedestrian and a WIFI signal of the position of the pedestrian;
when the travelling parameters meet preset rules, matching landmark information in the area to be walked according to the travelling parameters to obtain a matched landmark:
when the angular velocity signal of the pedestrian traveling is taken as the traveling parameter,
calculating an accumulated rotation angle according to a horizontal angular velocity signal corresponding to the previous N steps of the current step, and judging that the advancing direction of the pedestrian changes when the accumulated rotation angle is higher than a preset threshold value;
if the number of steps from the step of which the pedestrian advancing direction is judged to be changed to the current step last time is smaller than a preset N value, calculating an accumulated rotating angle by taking the horizontal angular velocity corresponding to the step of which the pedestrian advancing direction is judged to be changed to the current step last time;
searching a physical landmark in an area which takes the position corresponding to the current step calculated by the positioning of the pedestrian as the center of a circle and takes M meters as the radius;
taking the physical landmark obtained by searching as a matching landmark;
if the searching obtains a plurality of physical landmarks, the physical landmark closest to the current step position is used as a matching landmark;
when the magnetic field intensity signal of the position of the pedestrian is taken as a traveling parameter, respectively detecting the peak of the horizontal component and the vertical component of the magnetic field intensity; when at least one of the horizontal component and the vertical component is at a peak value or a valley value, judging that the pedestrian is positioned near a certain geomagnetic landmark;
searching in a region which takes the position corresponding to the current step calculated by the pedestrian positioning as the center of a circle and takes P meters as the radius to obtain one or more geomagnetic landmarks as candidate geomagnetic landmarks;
calculating a geomagnetic feature distance between the candidate geomagnetic landmark and a geomagnetic landmark at the current position, and taking the candidate geomagnetic landmark as a matched landmark if the geomagnetic feature distance is smaller than a preset threshold value;
wherein, the geomagnetic characteristic distance is as follows:
characteristic distance d of geomagnetismGeomagnetism geometry+dCharacteristics of geomagnetism；
vLevel ofHorizontal component peak-to-valley condition I;
vis perpendicular to| M | vertical component peak-to-valley condition;
i is a magnetic inclination angle, and M is a magnetic field intensity;
if a plurality of candidate geomagnetic landmarks with the geomagnetic characteristic distances smaller than a preset threshold value are available, selecting the candidate geomagnetic landmark with the minimum geomagnetic characteristic distance as a matched landmark;
when the WIFI signal of the position of the pedestrian is taken as a traveling parameter, searching in an area which takes the position corresponding to the current step calculated by the pedestrian positioning as the center of a circle and takes Q meters as the radius to obtain a candidate WIFI landmark;
calculating a WIFI signal of the position of the current step to obtain a WIFI signal intensity vector;
calculating a WIFI signal intensity vector of the position where the current step is located and a WIFI characteristic distance of the candidate WIFI landmark obtained through searching;
wherein the WIFI characteristic distance is:
WIFI characteristic distance dWIFI geometry+dWIFI features；
dWIFI geometryGeometric distance, d, from the current step to the candidate WIFI landmarkWIFI featuresThe cosine similarity value of the signal intensity vector of the WIFI signal in the current step and the signal intensity vector of the candidate WIFI landmark position is obtained;
if the WIFI characteristic distance is smaller than a preset threshold value, taking the candidate WIFI landmark as a matching landmark;
if a plurality of candidate WIFI landmarks with the WIFI characteristic distances smaller than a preset threshold value are available, adopting the candidate WIFI landmark with the minimum WIFI characteristic distance as a matching landmark;
and correcting the pedestrian dead reckoning result of the current step according to the matched landmark:
correcting the step length and the course of the pedestrian dead reckoning result of the current step according to the position of the matched landmark in the area to be walked;
correcting the step length through a step length correction coefficient;
the step length correction coefficient is the product of the quotient of the distance between the position of the matched landmark and the position corrected in the previous step divided by the distance between the position calculated by the pedestrian positioning in the current step and the position corrected in the previous step and the correction coefficient in the previous step;
obtaining a course correction angle by calculating the arc tangent of the tangent value of the course correction angle; correcting the course of the pedestrian dead reckoning result of the current step by using a course correction angle; the tangent value of the course correction angle is the quotient of the distance between the position of the current step pedestrian dead reckoning result and the position of the matched landmark divided by the distance between the position of the current step pedestrian dead reckoning result and the position corrected in the previous step;
calculating a correction result corresponding to each of the matching landmarks respectively corresponding to the physical landmark, the geomagnetic landmark and the WIFI landmark;
and calculating to obtain a final correction result through preset weight distribution corresponding to various matching landmarks and the correction result of each matching landmark.
2. The method of claim 1,
before obtaining landmark information in the area to be walked, the method further comprises:
scanning and extracting landmark information in a region to be walked in advance:
scanning position coordinates corresponding to a physical position point which enables the pedestrian to change the traveling direction in the area to be walked as a physical landmark, wherein the physical landmark comprises the corresponding position coordinates and traveling direction information which enables the pedestrian to change;
scanning position coordinates corresponding to the feature points with the magnetic field intensity meeting a preset rule in the region to be walked as geomagnetic landmarks, wherein the geomagnetic landmarks comprise corresponding position coordinates and magnetic field intensity information of corresponding positions;
and scanning position coordinates corresponding to the feature points meeting the preset rules in the area to be walked as WIFI landmarks, wherein the WIFI landmarks comprise corresponding position coordinates and WIFI signal intensity information of corresponding positions.
3. The method of claim 2,
the preset rules for determining the geomagnetic landmark include:
at least one of a horizontal component and a vertical component of the magnetic field intensity at a position corresponding to the geomagnetic landmark is at a peak value or a valley value;
the preset rules for determining the WIFI landmark comprise:
and sequentially scanning all paths in the area to be walked, and taking the position where the WIFI signal strength is received according to the preset frequency as a WIFI landmark.
4. The method of claim 2, wherein:
and (4) the landmark information which is scanned and extracted in the area to be walked in advance is sorted and stored according to the adjacent area corresponding to each walkable path.
5. A pedestrian localization correction system of the landmark pedestrian localization correction method according to claim 1, the system comprising:
the landmark acquisition unit is used for acquiring landmark information in a region to be walked; the landmarks comprise physical landmarks, geomagnetic landmarks and WIFI landmarks;
the device comprises a travelling parameter acquisition unit, a monitoring unit and a control unit, wherein the travelling parameter acquisition unit is used for acquiring travelling parameters in the travelling process of the pedestrian in real time, and the travelling parameters comprise an angular velocity signal of the travelling of the pedestrian, a magnetic field intensity signal of the position of the pedestrian and a WIFI signal of the position of the pedestrian;
the landmark matching calculation unit is used for confirming whether the travelling parameters acquired by the travelling parameter acquisition unit meet the preset rules or not and acquiring matched landmarks according to landmark information in the travelling parameter matching area meeting the rules;
and the correction calculation unit is used for correcting the pedestrian dead reckoning of the current step according to the matched landmarks calculated by the landmark matching calculation unit.
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