CN109579832A - A kind of personnel's height autonomous positioning algorithm - Google Patents
A kind of personnel's height autonomous positioning algorithm Download PDFInfo
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- CN109579832A CN109579832A CN201811418048.9A CN201811418048A CN109579832A CN 109579832 A CN109579832 A CN 109579832A CN 201811418048 A CN201811418048 A CN 201811418048A CN 109579832 A CN109579832 A CN 109579832A
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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
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The present invention is claimed a kind of personnel's height autonomous positioning algorithm, which includes: 1. detection X, Z axis accelerometer sharp peaks characteristic, to personnel it is upper downstairs or walking states determine；2. testing staff's gait, step when being calculated downstairs by the instantaneous zero-bit capture of accelerometer and gyroscope Three-Dimensional Dynamic blending algorithm is high, then carries out height resolving；3. will resolve the height correction integral multiple high to half floor by the turning point during going downstairs in attitude angle detection in turning point, and reduce height error；The height algorithm is not against barometer and other ancillary equipments, and independence is high and is not easy to be affected by the external environment, the field suitable for various indoor environment complexity.
Description
Technical field
The invention belongs to a kind of height algorithm, which places one's entire reliance upon not against barometer and any ancillary equipment
Inertial sensor, independence is good, high reliablity, not vulnerable to the influence of environmental change.It is more complex especially suitable for environmental change
Indoor environment, such as nuclear power station personnel positioning field, fire rescue field.
Background technique
With being continuously increased for the application demands such as context aware, ambient intelligence, the application based on indoor location service is more next
More by the favor of people, such as fire rescue, nuclear power station personnel positioning etc..Since satellite letter can not be received in building indoors
Number or satellite-signal it is weak, therefore can not be surveyed indoors using GPS high.
Chamber height positioning is primarily referred to as personnel being accurately positioned to floor where personnel, and current indoor occupant height
In location technology, application is more widely to be based on barometer and ancillary equipment based on barometrical altitude location technology
The altitude location technology of (RFID, WLAN, UWB etc.) fusion.Based on the altitude location technology that barometer is merged with ancillary equipment, need
Will construction and installation equipment indoors in advance, certain specific environments are only applicable to, although precision high bad adaptability.And it is based on gas
Although pressing the altitude location technology independence of meter good, influence of the barometer vulnerable to the air factor such as wind speed, temperature, humidity,
In the more complicated environment of some environmental changes, there is very big error by the height that barometer resolves, error is up to several
It even more than ten meters of rice, can not be by personnel positioning to accurate floor.
In inertial positioning system, due to barometrical limitation, in the more complicated indoor environment of some environmental changes,
Height based on barometer resolving is simultaneously unreliable.The algorithm for only relying on inertial sensor progress Height Estimation at present is also fewer,
Such as the height algorithm of the accelerometer dual-integration based on vertical direction, this algorithm to the required precision of accelerometer very
Height, cost are larger.The problems such as chamber height algorithm independence is poor, easily affected by environment at present.
Based on the above, the invention proposes a kind of autonomous chamber height algorithm of personnel based on pure inertial navigation, the algorithms
Mems accelerometer and gyroscope are only relied on, cost is relatively low and high reliablity, and it is more complicated to can be widely applied for environmental change
Civil field, such as fire rescue, nuclear power station personnel positioning.
Summary of the invention
Present invention seek to address that the above problem of the prior art.Propose good a kind of independence, high reliablity, with high accuracy
Chamber height location algorithm.Technical scheme is as follows:
A kind of personnel's height autonomous positioning algorithm comprising following steps:
1) data processing, is carried out to the mems accelerometer of inertia system and MEMS gyroscope, specifically includes that installation misses
Difference, zero bias, the calibration of calibration factor equal error, temperature-compensating and low-pass filtering.And inertia system is mounted on pedestrian's waist,
Obtain the acceleration of motion of pedestrian.
2), to X, Z axis accelerometer carries out peak detection, is expressed as Axmax、Azmin.Body when due to personnel's walking
It swings, accelerometer is caused to occur two wave crests in one cycle.When this patent is by one peak detection interval of setting
Between Tc, i.e., after ought detecting first peak value, interval time TcIt carries out peak detection next time again afterwards, passes through this time
Threshold method filters out the interference of accelerometer secondary wave crest.According to X, the sharp peaks characteristic of Z axis accelerometer, to personnel it is upper downstairs or
The state of putting down away is determined.
3), testing staff's gait is calculated by the instantaneous zero-bit capture of accelerometer and gyroscope Three-Dimensional Dynamic blending algorithm
Step when above downstairs is high, then carries out height resolving；
4) turning point during, being detected downstairs by attitude angle will resolve height correction to half floor in turning point
High integral multiple obtains personnel positions height.
Further, the step 1) inertia system is carried out including calibrating for error, temperature-compensating, including low-pass filtering
Data processing step specifically includes:
101. the inertia system of selected integrated a 3 axis MEMS accelerometer and gyroscope；
102. the Rotable Control System of selected two degrees of freedom or more；
103. the main shaft and pitch axis of the Rotable Control System of pair step 102 carry out rezero operation；
104. inertia system is vertically disposed on Rotable Control System, calibration work is carried out to accelerometer and gyroscope
Make, calibration parameter includes: scale factor error, zero drift；
105. the data after step 104 calibration process are carried out temperature-compensating by selected incubator；
106. the later data of step 105 temperature-compensating are carried out low-pass filtering treatment.
Further, inertia system is mounted on tested personnel by the step 1), obtains the acceleration of motion of pedestrian,
It specifically includes:
Inertia system is placed in waist by 201. personnel, the accelerometer after Acquisition Error calibration, temperature-compensating, low-pass filtering
Data, personnel static 1 second, acquisition X, Y, Z axis accelerometer was averaged in local gravitational acceleration component, was denoted as g_x,
g_y,g_z；
202. subtract X, the Z axis accelerometer data in personnel's walking process the acceleration of gravity mean value of stationary state,
The moving acceleration data for obtaining personnel is denoted as Ax, Az respectively, and using this moving acceleration data as research reference quantity.
Further, the step 2) detects X, Z axis accelerometer sharp peaks characteristic, according to the sharp peaks characteristic of accelerometer,
To personnel it is upper downstairs or the state of putting down away determine, specifically include:
301. pairs of acceleration informations carry out peak detection, and the crest value of X-axis accelerometer is denoted as Axmax, Z axis accelerometer
Valley value, be denoted as Azmin；
302. personnel put down away 2s, carry out peak detection to X, Z axis accelerometer data, obtain the peak of X, Z axis accelerometer
It is worth mean value, is denoted as av_x, av_z respectively；
303. pass through one time threshold T of settingc, after detecting first crest value, interval time TcLater again into
The peak detection of row next time；
Decision threshold in 304. settings downstairs, is denoted as D respectively1,D2,D3；
The condition gone downstairs on 305. personnel and put down away judgement is as shown in Equation 1:
Further, step 3) the testing staff gait, it is three-dimensional by the instantaneous zero-bit capture of accelerometer and gyroscope
Step when dynamic fusion algorithm calculates downstairs is high, then carries out height resolving, specifically includes:
The 401. instantaneous zero-bits of Pickup ions degree meter read 3-axis acceleration evaluation, are denoted as Acc_x, Acc_y, Acc_ respectively
Z, and modulus value Acc_norm is sought, shown in formula specific as follows:
402. couples of Acc_norm carry out peak detection, and crest value is denoted as Acc_min, and valley value is denoted as Acc_max；
403. computing staff step-length DS_L, are shown below:
404. obtain the three-dimension altitude angle of personnel according to gyroscope Three-Dimensional Dynamic blending algorithm, read the course angle of the i-th step
And pitch angle, it is denoted as yawi, pitchi；Each step height value h is obtained according to step-length, course angle, pitch angle0, specifically such as formula (4)
It is shown:
h0=DS_L*sin (yawi)*tan(pitchi) (4)
405. couples of personnel carry out gait detection；
After 406. steps 404,405 are completed, the upper downstairs movement state of testing staff, if personnel in state upstairs, into
Row height is cumulative；In downstairs movement state, then height regressive is carried out；In the state of putting down away, then height is constant, specifically as shown in formula (5):
Wherein, H2For the height value that current time resolves, H1For the height value of back.
Further, the step 4) is specifically included: Ren Yuanshang by the turning point during going downstairs in attitude angle detection
When downstairs, primary turn will do it in staircase, usual 4~5 step of this camber is covered, and judges floor using course angle difference
Between turning point, specifically as shown in formula (6):
Wherein, yawiFor the course angle of the i-th step, i=1,2,3,4,5；α is the turning decision threshold of setting, which takes
Value is 100 ° of
Further, the step 4) will resolve the height correction integral multiple high to half floor, correction algorithm in turning point
As shown in formula (7):
K=-3, -2, -1,0,1,2,3 ... waits integers.H2The height value that current time resolves, β are height correction error
Threshold value, hcBuild half floor height.
It advantages of the present invention and has the beneficial effect that:
The present invention can effectively identify the upper downstairs movement state of personnel in real time, and can real-time perfoming height resolve, by people
Member navigate to correct floor, may be implemented in the process it is following the utility model has the advantages that
(1) independence is good: the algorithm carries out identification downstairs and height using the accelerometer and gyroscope of inertance element
Degree resolves, and independent of any ancillary equipment, independence is good.
(2) high reliablity: the algorithm does not use barometer, not vulnerable to the influence of external environment, overcome barometer vulnerable to
The drawbacks of environment influences, the application field more complex especially suitable for some environmental changes, such as fire rescue, nuclear power are stood firm
Position.
(3) precision is high: the algorithm joined special correction algorithm, has all carried out height in each floor corner and has repaired
Just, height error accumulation can be effectively reduced, personnel can be accurately positioned to correct floor.
Detailed description of the invention
Fig. 1 is that the present invention provides preferred embodiment algorithm flow chart
Fig. 2 is the wearing mode figure of inertance element
Fig. 3 is interference of the X-axis accelerometer secondary wave crest to upper result downstairs
After Fig. 4 is setting time threshold value, secondary wave crest interference is filtered out
Fig. 5 is X, downstairs determines result figure on Z axis accelerometer
Fig. 6 is test scene doors structure figure
Fig. 7 is height calculation result figure
Fig. 8 is the height solution nomogram for changing environmental factor
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, detailed
Carefully describe.Described embodiment is only a part of the embodiments of the present invention.
The technical solution that the present invention solves above-mentioned technical problem is:
The invention discloses a kind of personnel's height autonomous positioning algorithm for only relying on inertial sensor, technical solution flow charts
As shown in Figure 1, specific as follows:
First, data processing is carried out to the accelerometer of inertance element and gyroscope first:
1. the inertia system of selected integrated a 3 axis MEMS accelerometer and gyroscope.
Main shaft and pitch axis 2. the double all electrical turntables of selected Rotable Control System, and to electrical turntable carry out zero behaviour
Make, turntable is made to be in level.
3. inertia system is vertically disposed in state, calibration, calibration parameter are carried out to accelerometer and gyroscope
It include: scale factor error, zero drift.
4. selecting a highland incubator, inertance element is placed in incubator, temperature setting is -40 DEG C~80 DEG C, and acquisition adds
The experimental data of speedometer carries out temperature-compensating to accelerometer.
5. pair calibration and the later data of temperature-compensating carry out low-pass filtering treatment.
Second, secondly the upper downstairs movement state of personnel is identified:
1. inertia system is placed in waist location, such as Fig. 2 by personnel.Acquisition calibration, compensation, filtered acceleration count
According to.Personnel static 1 second, acquisition X, Y, Z axis accelerometer acquired mean value in local gravitational acceleration component, was denoted as g_x,
g_y,g_z。
2. Z axis accelerometer data subtracts the acceleration of gravity mean value of stationary state by the X in personnel's walking process, obtain
Moving acceleration data to personnel is denoted as Ax, Az respectively, and using this moving acceleration data as research reference quantity.
3. pair accelerometer data carries out peak detection, the crest value of X-axis accelerometer is denoted as Axmax, Z axis accelerometer
Valley value, be denoted as Azmin。
4. personnel put down away 2s, the peak-to-average of acquisition X, Z axis accelerometer are denoted as av_x, av_z respectively.
5. in the process of walking due to personnel, body understands some swings, therefore X-axis accelerometer can go out in one cycle
Existing 2 wave crests, i.e., later along with a spurious peaks, this spurious peaks can make downstairs to judge by accident main wave crest.Such as Fig. 3 institute
Show, during putting down away, due to the interference of secondary wave crest, puts down away and be mistaken for going downstairs.This algorithm passes through one time threshold T of settingc
Filter out the interference of secondary wave crest, i.e., after detecting first crest value, interval time TcCarry out peak next time again later
Value detection.The interference of secondary wave crest can be significantly filtered out by this interval method, the accuracy of judgement downstairs in raising, such as
Shown in Fig. 4.
6. the decision threshold in setting downstairs, is denoted as D respectively1,D2,D3。
7. the upper condition gone downstairs and put down away judgement is as shown in Equation 1 indoors by personnel:
It is upper downstairs to determine result as shown in figure 5, crest value when upstairs, when the crest value of X-axis accelerometer is than putting down away
Mean value is big；When downstairs, the crest value mean value when crest value of X-axis accelerometer is than putting down away is small, the valley value of Z axis accelerometer
Valley value mean value when than putting down away is small.It can effectively identify that the upper of personnel is gone downstairs by the sharp peaks characteristic of X, Z axis accelerometer
And the state of putting down away, and upper determination rate of accuracy downstairs is reliable.
Third carries out height resolving and height correction when personnel walk:
1. the instantaneous zero-bit of Pickup ions degree meter and the 3-axis acceleration evaluation of reading at this time, are denoted as Acc_x, Acc_y respectively,
Acc_z, and modulus value Acc_norm is sought, shown in formula specific as follows:
2. couple Acc_norm carries out peak detection, crest value is denoted as Acc_min, and valley value is denoted as Acc_max.Computing staff
Step-length DS_L, as shown in Equation 3:
3. according to the three-dimension altitude angle of gyroscope Three-Dimensional Dynamic blending algorithm computing staff, read the i-th step course angle and
Pitch angle is denoted as yawi, pitchi；Each step height value h is obtained according to step-length, course angle, pitch angle0, it is specific as shown in Equation 4:
h0=DS_L*cos (yawi-yawi-1)*tan(pitchi-pitchi-1) (4)
4. couple personnel carry out gait detection.
5. the upper downstairs movement state of the personnel of identification, if it is cumulative to carry out height upstairs；If carrying out height downstairs
Spend regressive；If put down away, height is constant, specific as shown in Equation 6:
Wherein, H2For the height value of latter step, H1For the height value of back.
6. will do it primary turn in staircase, this camber can usually be covered with 4~5 steps when on usual personnel downstairs.
Therefore it can use course angle difference to judge the turning point of floor gap, specifically as shown in Equation 3:
Wherein, yawiFor the course angle of the i-th step, i=1,2,3,4,5；α is the turning decision threshold of setting, which takes
Value is 100 °, unifies a turn point to avoid repeated test, this algorithm exists for 4 seconds later after detecting a turn point
Carry out camber detection.As shown in Figure 7, Figure 8, during upper go downstairs, 98% turn point is all detected.
5. stair are generally "the" shape in conventional cubic building building, 1 downstairs above can be detected during one layer
~2 turning points, this turning point is generally in half floor height or flood building eminence.After detecting turning point, just to working as
Preceding height value is just corrected, meanwhile, when the personnel that detect when equalling away state, also will do it height correction.Experimental group investigation
Neighbouring teaching building, the building such as office building, every floor height is about 4 meters, therefore sets corrected altitude hc=2 meters.Setting is high
Modified error threshold β=1.3 meter are spent, specific correction algorithm is as shown in Equation 4:
K=-3, -2, -1,0,1,2,3 ... waits integers.Upper height calculation result downstairs as shown in fig. 7, Fig. 7 be personnel from
Outdoor enters into teaching building and is going to outdoor (having gentle breeze), has a process for upstairs arriving second floor twice, exists as can be seen from Figure 7, gas
There is very big error in influence of the pressure meter vulnerable to wind speed, height value, and the height value that this paper algorithm resolves is turned at each layer
Crook has all carried out height correction, the height error generated when can effectively make up and downstairs judge by accident by correction algorithm,
Personnel can be properly positioned floor.
6. also done one group of comparative experiments herein, i.e. place the first teaching building for being selected as school, a height of 4 meters of every floor,
Personnel arbitrarily walk, and air-conditioning (refrigeration) classroom is entered at three buildings, and simulated air environment reduces, at three upstairs four buildings,
It is placed on beside inertance element using hot-water bottle, simulated air environment increases.Concrete outcome is as shown in Figure 8, it can be seen that due to ring
The variation in border, there is very big error in barometrical data, and the variation of external environment is smaller on the influence of this paper algorithm.
The above embodiment is interpreted as being merely to illustrate the present invention rather than limit the scope of the invention.?
After the content for having read record of the invention, technical staff can be made various changes or modifications the present invention, these equivalent changes
Change and modification equally falls into the scope of the claims in the present invention.
Claims (7)
1. a kind of personnel's height autonomous positioning algorithm, which comprises the following steps:
1) data processing, is carried out to the mems accelerometer of inertia system and MEMS gyroscope, specifically includes that installation error, zero
Partially, calibration factor equal error is calibrated, temperature-compensating and low-pass filtering.And inertia system is mounted on pedestrian's waist, it is gone
The acceleration of motion of people；
2), to X, Z axis accelerometer carries out peak detection, is expressed as Axmax、Azmin, body is put when due to personnel's walking
It is dynamic, cause accelerometer to occur two wave crests in one cycle, by setting a peak detection interval time Tc, that is, work as
After detecting first peak value, interval time TcIt carries out peak detection next time again afterwards, is filtered by this time threshold method
Except the interference of accelerometer secondary wave crest, according to X, the sharp peaks characteristic of Z axis accelerometer, to personnel it is upper downstairs or the state of putting down away
Determined.
3), testing staff's gait is calculated up and down by the instantaneous zero-bit capture of accelerometer and gyroscope Three-Dimensional Dynamic blending algorithm
Step when building is high, then carries out height resolving；
4) it is high to half floor will to resolve height correction in turning point for the turning point during, being detected downstairs by attitude angle
Integral multiple obtains personnel positions height.
2. a kind of personnel's height autonomous positioning algorithm according to claim 1, which is characterized in that the step 1) is to inertia
The MEMS accelerometer and MEMS gyroscope of system carry out including calibrating for error, temperature-compensating, the data processing including low-pass filtering
Step specifically includes:
The inertia system of 201. selected integrated a 3 axis MEMS accelerometers and gyroscope；
The Rotable Control System of 202. selected two degrees of freedom or more；
The main shaft and pitch axis of the Rotable Control System of 203. pairs of steps 102 carry out rezero operation；
204. are vertically disposed in inertia system on Rotable Control System, carry out calibration, school to accelerometer and gyroscope
Quasi- parameter includes: installation error, scale factor error, zero drift；
Data after step 104 calibration process are carried out temperature-compensating by 205. selected incubators；
The later data of step 105 temperature-compensating are carried out low-pass filtering treatment by 206..
3. a kind of personnel's height autonomous positioning algorithm according to claim 2, which is characterized in that the step 2) is by inertia
System is mounted on tested personnel, is obtained the acceleration of motion of pedestrian, is specifically included:
Inertia system is placed in waist by 301. personnel, and the acceleration after Acquisition Error calibration, temperature-compensating, low-pass filtering counts
According to personnel static 1 second, acquisition X, Y, Z axis accelerometer was averaged in local gravitational acceleration component, was denoted as g_x, g_
y,g_z；
302. subtract X, the Z axis accelerometer data in personnel's walking process the acceleration of gravity mean value of stationary state, obtain
The moving acceleration data of personnel is denoted as Ax, Az respectively, and using this moving acceleration data as research reference quantity.
4. a kind of personnel's height autonomous positioning algorithm according to claim 3, which is characterized in that the step 2) detects X,
Z axis accelerometer sharp peaks characteristic, according to the sharp peaks characteristic of accelerometer, to personnel it is upper downstairs or the state of putting down away is sentenced
It is fixed, it specifically includes:
401. pairs of acceleration informations carry out peak detection, and the crest value of X-axis accelerometer is denoted as Axmax, the wave of Z axis accelerometer
Valley is denoted as Azmin；
402. personnel put down away 2s, carry out peak detection to X, Z axis accelerometer data, it is equal to obtain X, the peak value of Z axis accelerometer
Value, is denoted as av_x, av_z respectively；
403., due to body swing when personnel walk, cause accelerometer to occur two wave crests in one cycle, by setting
A fixed peak detection interval time Tc, i.e., after ought detecting first peak value, interval time TcCarry out peak next time again afterwards
Value detection, the interference of accelerometer secondary wave crest is filtered out by this time threshold method；
Decision threshold in 404. settings downstairs, is denoted as D respectively1,D2,D3；
The condition gone downstairs on 405. personnel and put down away judgement is as shown in Equation 1:
5. a kind of personnel's height autonomous positioning algorithm according to claim 4, which is characterized in that
Step 3) the testing staff gait passes through the instantaneous zero-bit capture of accelerometer and gyroscope Three-Dimensional Dynamic blending algorithm meter
Step when counting in downstairs is high, then carries out height resolving, specifically includes:
The 501. instantaneous zero-bits of Pickup ions degree meter read 3-axis acceleration evaluation, are denoted as Acc_x, Acc_y, Acc_z respectively, and
Modulus value Acc_norm is sought, shown in formula specific as follows:
502. couples of Acc_norm carry out peak detection, and crest value is denoted as Acc_min, and valley value is denoted as Acc_max；
503. computing staff step-length DS_L, are shown below:
504. obtain the three-dimension altitude angle of personnel according to gyroscope Three-Dimensional Dynamic blending algorithm, read the course angle of the i-th step and bow
The elevation angle is denoted as yawi, pitchi；Each step height value h is obtained according to step-length, course angle, pitch angle0, specifically as shown in formula (4):
h0=DS_L*sin (yawi)*tan(pitchi) (4)
505. couples of personnel carry out gait detection；
After 506. steps 504,505 are completed, the upper downstairs movement state of testing staff, if personnel carry out height in state upstairs
Degree is cumulative；In downstairs movement state, then height regressive is carried out；In the state of putting down away, then height is constant, specifically as shown in formula (5):
Wherein, H2For the height value that current time resolves, H1The height value resolved for back.
6. a kind of personnel's height autonomous positioning algorithm according to claim 5, which is characterized in that
The step 4) detects the turning point during going downstairs by attitude angle, specifically includes: when on personnel downstairs, in stair
Between will do it primary turn, usual 4~5 step of this camber is covered, the turning point of floor gap is judged using course angle difference, have
Shown in body such as formula (6):
Wherein, yawiFor the course angle of the i-th step, i=1,2,3,4,5；α is the turning decision threshold of setting, which is
100°。
7. a kind of personnel's height autonomous positioning algorithm according to claim 6, which is characterized in that the step 4) is being turned
Point will resolve the height correction integral multiple high to half floor, shown in correction algorithm such as formula (7):
K=-3, -2, -1,0,1,2,3 ... waits integers.H2The height value that current time resolves, β are height correction error threshold,
hcBuild half floor height.
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| CN111197974A (en) * | 2020-01-15 | 2020-05-26 | 重庆邮电大学 | Barometer height measuring and calculating method based on Android inertial platform |
| CN112568899A (en) * | 2019-09-30 | 2021-03-30 | 深圳市荣盛智能装备有限公司 | Personnel posture judgment method and system |
| CN112747747A (en) * | 2021-01-20 | 2021-05-04 | 重庆邮电大学 | Improved UWB/IMU fusion indoor pedestrian positioning method |
| CN113720332A (en) * | 2021-06-30 | 2021-11-30 | 北京航空航天大学 | Floor autonomous identification method based on floor height model |
| CN114459460A (en) * | 2022-01-07 | 2022-05-10 | 山东云海国创云计算装备产业创新中心有限公司 | Indoor staircase pedestrian positioning device and method |
| CN114993304A (en) * | 2022-06-29 | 2022-09-02 | 北京石头创新科技有限公司 | Method, device, medium and electronic equipment for determining position of robot |
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