CN109631891A - A kind of indoor unprofessional person's integrated positioning system based on GPS/IMU - Google Patents
A kind of indoor unprofessional person's integrated positioning system based on GPS/IMU Download PDFInfo
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- CN109631891A CN109631891A CN201910025491.8A CN201910025491A CN109631891A CN 109631891 A CN109631891 A CN 109631891A CN 201910025491 A CN201910025491 A CN 201910025491A CN 109631891 A CN109631891 A CN 109631891A
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- 238000004891 communication Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000013500 data storage Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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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
- G01C21/165—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 combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of indoor unprofessional person's integrated positioning system based on GPS/IMU, including power supply, data acquisition module, data processing module, wireless communication module and host computer.Data acquisition module includes GPS and IMU sensor, and the data processing module includes main control chip, pin-saving chip, serial ports.GPS, IMU sensor, pin-saving chip, serial ports and wireless communication module pass through signal wire respectively and connect with main control chip, and module is communicated host computer with main control chip by wireless communication.The present invention by GPS positioning with IMU sensor positioning combine, positioned at outdoor by GPS, indoors when positioned by IMU sensor, thus solve the problems, such as GPS indoors signal decay, position it is inaccurate, realization indoor and outdoor precise positioning.
Description
Technical field
The invention belongs to positioning fields, and in particular to a kind of indoor unprofessional person's integrated positioning system based on GPS/IMU.
Background technique
Requirement of pedestrian's positioning system for position precision is higher and higher, especially in geological exploration, mine exploration, fire-fighting
In the occasion that the indoor and outdoors such as rescue are taken into account, the accurate location information for understanding personnel is particularly important to the guarantee of personnel safety, and GPS is
A kind of common positioning method, can be provided for user continuously, high accuracy three-dimensional position location information, but GPS use satellite into
Row positioning, can cause positioning accuracy to be deteriorated because signal is weak indoors.Therefore, indoor and outdoor integrated positioning is carried out for pedestrian
Research have great significance.
WANG KAILONG, GUO HANG.Research on the accuracy of indoor and outdoor
Pedestrian seamless navigation and positioning [J] .Computer Simulation, 2018,35
(9): 450-454 proposes a kind of method of indoor unprofessional person's seamless navigation.It is positioned in conjunction with the bimodulus of Beidou and GPS, in outdoor
The place for blocking rather harsh remains to reach enough satellites in view numbers, is distributed the space geometry of observation satellite good, reduces
The influence of the factors such as multipath effect improves positioning accuracy.In the environment that cannot receive satellite-signal, using multifactor control
Zero-speed detection algorithm largely inhibits position based on pedestrian's dead reckoning algorithm that EKF and ZUPT and ZARU is assisted
Set the influence dissipated at any time.But the program is still to be positioned using satellite, can be led indoors because signal is weak
Positioning accuracy is caused to be deteriorated.
JU SHENGHUI.Mobile Robot Indoor Location and Motion Target Tracking
Based on Monocular Vision [D] .Tianjin University of Technology, 2016, propose one kind
The indoor positioning technologies of monocular vision.Pass through analysis world coordinate system, camera coordinate system, image coordinate system and computer picture
Coordinate conversion relation between plain coordinate system demarcates video camera, and isolates Intrinsic Matrix, and then calculate down
The information such as angle of visibility necessary to one step is positioned carry out coordinate and are converted to eventually by acquisition image zooming-out characteristic point
Position, but the program is computationally intensive, image zooming-out algorithm is complicated, and power consumption more demanding to computer is big.
ZHANG YONG JU, GU XU BO, ZHANG JIAN, WANG BING, et al.3D Measurement
Based on Combination of Structured Light and Binocular Vision[J].JISUANJI YU
XIANDAIHUA, 2018,2:118-121, a kind of indoor and outdoor integrated positioning system based on GPS and WIFI is proposed, in outdoor
It is positioned in environment using GPS satellite location technology, is switched to GPS/Wi-Fi fusion location algorithm at diplomatic circles indoors,
Wi-Fi location fingerprint location algorithm is switched to after entering the room.But the program is to WIFI dependence carrying out indoor positioning
Larger, no WIFI cannot be positioned and it is necessary to be in connected state.
Summary of the invention
It is an object of the invention to propose a kind of indoor unprofessional person's integrated positioning system based on GPS/IMU, in outdoor
When positioned by GPS, indoors when positioned by IMU sensor, to solve GPS signal decaying indoors, fixed
The inaccurate problem in position, realizes indoor and outdoor precise positioning.
The technical solution for realizing the aim of the invention is as follows: a kind of indoor unprofessional person's integrated positioning system based on GPS/IMU
System, including power supply, data acquisition module, data processing module, wireless communication module and host computer.
Wherein:
The power supply is data acquisition module, data processing module and wireless communication module power supply.
The data acquisition module includes GPS and IMU sensor, GPS and IMU sensor passes through signal wire and main control chip
Connection.In outdoor positioned by GPS, acquire corresponding position information, indoors when positioned by IMU sensor,
Pass through the data such as acceleration, angular speed, magnetic force and pressure of the acquisition pedestrian during traveling.
The data processing module includes main control chip, pin-saving chip and serial ports.Main control chip by signal wire with
GPS with IMU sensor connects, and pin-saving chip and serial ports are connect by signal wire with main control chip.When pedestrian is located outside
When, main control chip receives the location information from GPS in real time, and module is sent to host computer by wireless communication；When pedestrian is in
When indoor, main control chip receives the data such as acceleration, angular speed, magnetic force and pressure from IMU sensor in real time, and utilizes
PDR algorithm handles these data, and traveling personnel are carried out with the reckoning of step-length and direction, is determined to reach pedestrian
The purpose of position.Finally obtained location information is saved in pin-saving chip and by wireless communication module be sent to it is upper
Machine.
The wireless communication module includes wireless communication chips etc., is attached by signal wire line with main control chip.It is main
It is responsible for that location information is sent to host computer by treated.
Detailed description of the invention
Fig. 1 is that a kind of indoor unprofessional person's integrated positioning system overall structure based on GPS/IMU of the embodiment of the present invention is shown
It is intended to.
Fig. 2 is the PDR algorithm principle schematic diagram of the embodiment of the present invention.
Fig. 3 is the positioning system execution flow chart of the embodiment of the present invention.
Fig. 4 is the experimental situation figure of the embodiment of the present invention.
Fig. 5 is the Data Processing in Experiment figure of the embodiment of the present invention.
Specific embodiment
In conjunction with Fig. 1, the present invention provides a kind of indoor unprofessional person's integrated positioning system based on GPS/IMU, including power supply,
Data acquisition module, data processing module, wireless communication module and host computer.Wherein:
The power supply is connect with data acquisition module, data processing module and wireless communication module respectively, is acquired to data
Module, data processing module and wireless communication module power supply.
The data acquisition module includes GPS and IMU sensor, and GPS specifically selects ATK-NEO-6M module, IMU sensing
Device selects nine axle sensor chip of MPU6050, passes through signal wire respectively and connect with main control chip.Outdoor be by GPS into
Row positioning, acquire corresponding position information, indoors when positioned by IMU sensor, by acquire pedestrian in traveling process
In the data such as acceleration, angular speed, magnetic force and pressure.
The data processing module includes main control chip, pin-saving chip and serial ports.Main control chip uses
STM32F407VGT6 is connect by signal wire with GPS and IMU sensor, and pin-saving chip and serial ports pass through signal wire and master
Control chip connection.When pedestrian is located outside, main control chip receives the location information from GPS in real time, by wireless communication mould
Block is sent to host computer；When pedestrian is in it is indoor when, main control chip receive in real time acceleration from IMU sensor, angular speed,
The data such as magnetic force and pressure, and these data are handled using PDR algorithm, step-length is carried out to traveling personnel and direction pushes away
It calculates, to achieve the purpose that position pedestrian.Finally obtained location information is saved in pin-saving chip and is led to
It crosses wireless communication module and is sent to host computer.
The wireless communication module includes wireless communication chips etc., and concrete model selects 24L01 chip, passes through signal wire line
It is attached with main control chip.Being mainly responsible for will treated that location information is sent to host computer.
PDR algorithm principle in conjunction with Fig. 2, in the present invention are as follows:
PDR algorithm is that acceleration, angular speed, magnetic force and pressure of the pedestrian during traveling are perceived by IMU sensor
Etc. data, and using these data to traveling personnel carry out cadence, step-length and direction reckoning, personnel are determined to reach
The purpose of position tracking.
Known initial position S0(N0,E0), then according to prediction equation, it can be deduced that the position S of any timek(Nk,Ek),
Prediction equation is as follows:
Wherein, N0For initial position abscissa, E0For initial position ordinate, NkFor any time position abscissa, EkFor
Any time position coordinates, dnFor step-length, θnFor direction.
In conjunction with Fig. 3, execution process of the invention are as follows:
(1) judge whether pedestrian is in outdoor.
(2) it is that then GPS starts to work when pedestrian is located outside, acquires the more specific location information of pedestrian, and be sent to master control
Chip.
(3) when pedestrian is located at interior, then IMU sensor is started to work, acquisition acceleration, angular speed, magnetic force and pressure
Etc. data, and be sent to main control chip.
(4) when main control chip receives the location information from GPS, then it is saved into data storage chip, and lead to
It crosses wireless communication module and is sent to host computer.It is calculated after main control chip receives the acquisition data from IMU sensor by PDR
Method carries out location Calculation, determines pedestrian position, then will obtain positioning result and be saved in data storage chip, and by wireless communication
Module is sent to host computer.
In conjunction with Fig. 4, in order to verify actual effect of the invention, using environment as shown in Figure 4, choose one from outdoor to
The path of outdoor, whole path about 125m arrive in interior again, and when being placed in order to avoid whole system the foot or arm of user
System need to be fixed on waist pelvis position by generated identification error.
In conjunction with Fig. 5, hollow dots, which are represented, to be positioned in outdoor using GPS, and solid dot represents uses IMU sensor indoors
Positioning.It can be seen that whole system locating effect is good, obtained path and preset path are almost the same.
The invention proposes a kind of indoor unprofessional person's integrated positioning system based on GPS/IMU utilizes GPS cooperation IMU to pass
The indoor and outdoor integrated positioning of pedestrian may be implemented in sensor, the experimental results showed that whole system locating effect is good, obtained path
It is almost the same with preset path, engineering practice value with higher.
Claims (6)
1. a kind of indoor unprofessional person's integrated positioning system based on GPS/IMU, it is characterised in that: including power supply, data acquisition module
Block, data processing module, wireless communication module and host computer；
Power supply is connect with data acquisition module, data processing module and wireless communication module respectively, to data acquisition module, data
Processing module and wireless communication module power supply；
Data acquisition module includes GPS and IMU sensor, GPS and IMU sensor by signal wire respectively with data processing module
Connection is positioned by GPS in outdoor, acquires corresponding position information, indoors when positioned by IMU sensor, it is logical
Cross acceleration, angular speed, magnetic force and pressure data of the acquisition pedestrian during traveling；
Data processing module includes main control chip, pin-saving chip and serial ports；Main control chip passes through signal wire and GPS and IMU
Sensor connection, pin-saving chip and serial ports by signal wire respectively with main control chip；
When pedestrian is located outside, main control chip receives the location information from GPS in real time, and module is sent to by wireless communication
Host computer；When pedestrian is in interior, main control chip receives acceleration, angular speed, magnetic force and pressure from IMU sensor in real time
Force data, and above-mentioned data are handled using PDR algorithm, traveling personnel are carried out with the reckoning of step-length and direction, thus right
Pedestrian positions；Finally obtained location information is saved in pin-saving chip and module is sent to by wireless communication
Host computer.
2. indoor unprofessional person's integrated positioning system according to claim 1 based on GPS/IMU, it is characterised in that: wireless
Communication module is attached by signal wire and main control chip, and responsible by treated, location information is sent to host computer.
3. indoor unprofessional person's integrated positioning system according to claim 1 based on GPS/IMU, it is characterised in that: master control
Chip uses STM32F407VGT6.
4. indoor unprofessional person's integrated positioning system according to claim 1 based on GPS/IMU, it is characterised in that: GPS tool
Body selects ATK-NEO-6M module.
5. indoor unprofessional person's integrated positioning system according to claim 1 based on GPS/IMU, it is characterised in that: IMU is passed
Sensor selects nine axle sensor chip of MPU6050.
6. indoor unprofessional person's integrated positioning system according to claim 2 based on GPS/IMU, it is characterised in that: wireless
Communication chip uses 24L01.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910025491.8A CN109631891A (en) | 2019-01-11 | 2019-01-11 | A kind of indoor unprofessional person's integrated positioning system based on GPS/IMU |
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| CN201910025491.8A CN109631891A (en) | 2019-01-11 | 2019-01-11 | A kind of indoor unprofessional person's integrated positioning system based on GPS/IMU |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110068338A (en) * | 2019-04-30 | 2019-07-30 | 杭州视氪科技有限公司 | A kind of route memory system and method |
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| CN106153049A (en) * | 2016-08-19 | 2016-11-23 | 北京羲和科技有限公司 | A kind of indoor orientation method and device |
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