CN109708630A - A kind of high method of step strapdown survey based on SHE model - Google Patents
A kind of high method of step strapdown survey based on SHE model Download PDFInfo
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Abstract
A kind of step strapdown based on SHE model of the present invention surveys high method, and specific steps include: step 1: the height of stationary state in each step period is read by zero-speed detection；Step 2: the height of zero-speed stationary state is averaging；Step 3: inertia height increment between step is calculated；Step 4: setting vertical movement pattern classification threshold value；Step 5: determine vertical movement mode；Step 6: height gain of classifying between walking is calculated；Step 7: present level is sought；Step 8: the height value of inertia device output is updated.By above step, pedestrian's vertical movement mode is classified, using the equidistant feature of each step, inertia can be eliminated and survey high unstability and reduce accumulated error, positioning height is calculated.
Description
Technical field
It is the present invention relates to indoor positioning field, in particular to a kind of based on SHE (Step Height Equidistant, step
It is high equidistant) the step strapdown of model surveys high method.Specifically, refer to and utilize the equidistant feature of stairway step, Mei Gebu
In the state period, height change of the pedestrian under different motion mode (horizontal plane, go upstairs and go downstairs) respectively corresponds fixed
Increment, then by the cumulative of every step vertical range increment, seek the positioning height of pedestrian.Solve the unstable of inertia channel
Property problem, reduces the accumulated error of short transverse, the accuracy of altitude location when improving pedestrian's walking indoors.
Background technique
Indoor positioning technologies have played important function in intelligent society, have been widely used in Internet of Things, robot clothes
Business, emergency relief, purchase by group, advertisement accurately push, enterprise personnel digital management, intelligent storage etc. need precision indoor geography position
The field set.Indoor positioning technologies are also the research hotspot of Now Domestic outer industry and academia, such as the room of Google's research and development
Interior vision positioning service system, apple push big based on low-power consumption bluetooth iBeacon indoor positioning technologies and Beijing post and telecommunications
Learn sunlight and the system etc. of exploitation.
MEMS-IMU (Micro Electro Mechanical System-Inertial Measurement Unit, it is micro-
Electromechanical inertial measuring unit) it is located in numerous indoor positioning technologies, due to excellent with continuity, independence, at low cost etc.
Point, receives significant attention.MEMS-IMU is studied as the integrated navigation technology of aiding sensors and helps to improve navigation system
Performance.For example, when the position locations such as ultra wide band, WiFi are by non-line-of-sight propagation or block, MEMS-IMU positioning system
It can be assisted to improve positioning accuracy and be held in position robustness.Positioning target is quickly moved, MEMS-IMU can be in camera
In the period of data invalid, a preferable pose estimation is provided, and pure vision SLAM can not accomplish.
For pure MEMS-IMU for pedestrian's three-dimensional localization and navigation, accumulated error seriously affects positioning performance.It is horizontal
Accumulated error can be effectively eliminated by ZUPT (Zero Velocity Update, zero-speed detection) method on face.However, vertical used
Property channel there is unstability, can not be for a long time using the quadratic integral method of MEMS-IMU normal acceleration come the accurate height that obtain
Degree.For a long time, carry out height calculating using the vertical axis of barometer or barometer supplementary inertial device, but barometer by
The influence of room temperature, air-flow, air pressure etc.；The complexity that height increases calculating is surveyed based on the method for laser radar or image,
Equipment performance is required high；It is carried out surveying height with WiFi or cartographic information, then heavy dependence external infrastructure and building knot
Structure information.For needs such as the scene of a fire, military battlefields from the scene of secure localization of advocating peace, present patent application propose based on SHE mould
The step strapdown of type surveys high method, can effectively reduce high accumulation error and eliminate the unstability of inertia vertical channel, and
And the auxiliary such as external infrastructure and priori cartographic information is not needed.
Summary of the invention
It is an object of the invention to: propose a kind of high method of step strapdown survey based on SHE model.Specifically, it is
Refer to that the height of each stairway step is identical in building, when the normal stair activity of pedestrian, in gait cycle, vertical direction
Motor pattern is divided into three classes: plane motion (every step respective heights increment is 0) is gone upstairs (every step respective heights increment is 2A),
It goes downstairs (every step respective heights increment is -2A), wherein A is the height of each stairway step.Adjacent gait cycle is obtained later
Middle MEMS-IMU binding foot is in inertia height increment Delta h between step when contacting to earth state, and sets vertical movement pattern classification door
Limit value δ (δ takes empirical value 0.12m).Ru Guo ∣ Δ h ∣ is less than δ, then classify height gain Δ h between walkingcl(k) it remains unchanged；If Δ
H is less than-δ, then Δ hcl(k) height when contacting to earth for back subtracts 2A；If Δ h is greater than δ, Δ hclWhen contacting to earth for back
Height add 2A, the vertical movement pattern classification height Δ h for each step period that adds upclJust the elevation information of pedestrian is obtained.It can solve
The certainly instability problem of inertia channel reduces the accumulated error of short transverse, altitude location when promoting pedestrian's walking indoors
Accuracy.
Technical solution: in order to solve the above problem, the present invention proposes that a kind of step strapdown based on SHE model surveys high method,
It is broadly divided into three parts:
(1) inertia height increment between walking is calculated
In adjacent step period, inertia height increment Delta h (k) is carried out secondary by the acceleration to inertia vertical direction between step
Integration method is sought.The calculated Δ h (k) of the method has accumulated error and there are unstability, is only used as judging that pedestrian is vertical
The foundation of the motor pattern in direction.
J indicates j-th of sampling in each step period, value 1,2 ... ... N in above formula；az(k, j) indicates k-th of step
Output of the accelerometer of jth time sampling in vertical direction in period；TsIndicate the sampling output gap of MEMS-IMU；Vz(k,j-
It 1) is the speed sampling of -1 vertical direction of jth in k-th of step period；Vz(k, 0) indicates to hang down at the end of -1 gait cycle of kth
Histogram to speed.
(2) pedestrian's vertical movement pattern classification
The motor pattern of pedestrian's vertical direction is judged by Δ h (k), it is assumed that δ is vertical movement pattern classification threshold value, is taken
Value is positive.When Δ h (k) is greater than threshold delta, for the state of going upstairs；When Δ h (k) is less than threshold value-δ, for the state of going downstairs；∣Δ
It is horizontal plane walking states when h (k) ∣ is less than threshold delta.
The vertical movement pattern classification of k-th of step period is { go upstairs, go downstairs, remain unchanged }, between corresponding step
Classify height gain Δ hcl(k) SHE model is used, the value of the model is {+2A, 0, -2A }, can be described as different mode downlink
The height change of the every step of people always respectively corresponds the same model value, i.e., under same motion model, the height of k-th of step period
Degree variation is always identical, wherein 0 represents walking in horizontal plane；- 2A representative is gone downstairs；+ 2A representative is gone upstairs.
Wherein, A is the height of each stairway step, can be obtained by architectural drawing or building standard；Compared between step
Inertia height increment Delta h (k), Δ hclIt (k) is height gain of classifying between step using SHE model, and by subscript cl to show area
Not, accumulated error and unstability is not present.
(3) every step vertical range increment that adds up seeks pedestrian level
Based on pedestrian's positioning height of MEMS-IMU step strapdown, formed by the height change value in every step period is cumulative.
Therefore, height h (k) calculation method at pedestrian's current time is as follows:
By inertia height increment Delta h (i) between the step of acquisition in (1) in pedestrian vertical movement pattern classification, and (2)
SHE model according to pedestrian move vertically pattern classification result find out step between classify height gain Δ hcl(i), present level is positioned as
Δhcl(i) accumulated value, i=1 ..., k.The accumulation that this localization method for seeking height considerably reduces inertia height misses
Difference, and solve inertia and survey high instability problem, so as to which the current positioning height of pedestrian is accurately calculated.
A kind of step strapdown based on SHE model of the present invention is surveyed into high method below, details are as follows, and specific steps include:
Step 1: the height of stationary state in each step period is read by zero-speed detection
Zero-speed detection information includes static and movement two states, is stationary state, ZUPT=0 Shi Weiyun when ZUPT=1
Dynamic state.Under the stationary state of k-th of gait cycle, n height value of MEMS-IMU output is respectively h (k1) ... h
(kj) ..., h (kn), wherein h (kj) is j-th of height of inertial navigation device output under the stationary state of k-th of gait cycle
Value.
Step 2: the height of zero-speed stationary state is averaging
Under the stationary state of k-th of gait cycle, algebraic mean is asked to the n height value that inertial navigation device calculates, is remembered
Make the height h (k) of stationary state in the gait cycle:
Step 3: inertia height increment between step is calculated
In adjacent step period, inertia height increment Delta h (k) is carried out secondary by the acceleration to inertia vertical direction between step
Integration method is sought.The calculated Δ h (k) of the method has accumulated error and there are unstability, is only used as judging that pedestrian is vertical
The foundation of the motor pattern in direction.
J indicates j-th of sampling in each step period, value 1,2 ... ... N in above formula；az(k, j) indicates k-th of step
Output of the accelerometer of jth time sampling in vertical direction in period；TsIndicate the sampling output gap of MEMS-IMU；Vz(k,j-
It 1) is the speed sampling of -1 vertical direction of jth in k-th of step period；Vz(k, 0) indicates to hang down at the end of -1 gait cycle of kth
Histogram to speed.
Step 4: setting vertical movement pattern classification threshold value
Move vertically ∣/2 pattern classification threshold delta Yi Ban Qu ∣ Δ h (k), and value is positive.It is mainly used for identification vertical movement
Mode.
Step 5: determine vertical movement mode
By comparing inertia height increment Delta h (k) between step and vertical movement pattern classification threshold delta, vertical direction is judged
Motion state.The motion state of vertical direction can be divided into following three types:
When Δ h (k) is greater than threshold delta, pedestrian is in state of going upstairs；
When Δ h (k) is less than threshold value-δ, pedestrian is in state of going downstairs；
When ∣ Δ h (k) ∣ is less than threshold delta, pedestrian is in plane ambulatory status.
Step 6: height gain of classifying between walking is calculated
When stair activity, pedestrian gradually top bar or gets out of a predicament or an embarrassing situation.It is assumed that the number of steps that every step is crossed over is identical, therefore hanging down
Histogram is upward, and the rise and fall height of the every step of pedestrian has comparable regularity.According to SHE model, classification height increases between step
Measure Δ hcl(k) calculating is as follows:
Wherein, A is the height (generally taking 0.16m) of each stairway step.
Step 7: present level is sought
In the stationary state of k-th of step period, height h (k) is sought by increment accumulation method, calculation method is as follows:
H (k)=h (k-1)+Δ hcl(k) (7)
Step 8: it loops to determine
According to whether detecting the valid data of subsequent time to judge whether circulation continues.If detecting kth+1
The data of step period then enter step 1 and restart to update present level；Otherwise end loop.
By above step, pedestrian's vertical movement mode is classified, using the equidistant feature of each step, can be disappeared
Except inertia surveys high unstability and reduces accumulated error, positioning height is calculated.
The present invention has the advantages that using indoor each equally spaced feature of stairway step, to adjacent step period one skilled in the art
Vertical movement mode is classified, and add up every step vertical range incremental computations height.It includes
(1) in needs such as the scene of a fire, military battlefields from the scene for secure localization of advocating peace, foot's strapdown inertial navigation system can be quasi-
Really output elevation information, has the characteristics that independence；
(2) this method can only rely on MEMS-IMU sensor, and long-time stable exports elevation information, do not need accurately to estimate
Local gravitational acceleration size efficiently solves inertia and surveys high instability problem.Method complexity is low, is easy to engineering reality
It is existing.
(3) this method is under the premise of not needing other infrastructure auxiliary and Indoor environment cartographic information, greatly
Reduce the accumulated error of vertical direction, strong robustness in ground.
Detailed description of the invention
Fig. 1 system the general frame.
Fig. 2 surveys high method flow diagram based on the step strapdown of SHE model.
Fig. 3 height sample calculation.
Specific embodiment
It describes the specific embodiments of the present invention in detail with reference to the accompanying drawing.
Fig. 1 is that the step strapdown based on SHE model surveys high method system the general frame.It mainly include three modules: vertical
Motor pattern judgment module；Every step vertical movement pattern classification value computing module；Altimeter based on vertical movement pattern classification
Calculate module.The input of vertical movement mode deciding module is the inertia height of adjacent step period stationary state, then by motor pattern
It is divided into three classes.According to the adjacent gait cycle difference in height that MEMS-IMU data calculation goes out, every step vertical movement pattern classification value meter
Module is calculated, motion state thresholding is set, is then gone downstairs according to the equally spaced feature of each stairway step of building and pedestrian upper
The rule of ladder and plane motion, seeks every step vertical range increment with symmetry respectively.Based on vertical movement pattern classification
Height computing module according to the height of previous step and the height gain of adjacent step period, calculate current gait cycle in static shape
Pedestrian's positioning height when state.
Fig. 2 is that the step strapdown based on SHE model surveys high method flow diagram.Method realizes that specific step is as follows:
(1) height of stationary state in each step period is read by zero-speed detection
Zero-speed detection information includes static and movement two states, is stationary state, ZUPT=0 Shi Weiyun when ZUPT=1
Dynamic state.Under the stationary state of k-th of gait cycle, n height value of MEMS-IMU output is respectively h (k1) ... h
(kj) ..., h (kn), wherein h (kj) is j-th of height of inertial navigation device output under the stationary state of k-th of gait cycle
Value.
(2) height of zero-speed stationary state is averaging
Under the stationary state of k-th of gait cycle, algebraic mean is asked to the n height value that inertial navigation device calculates, is remembered
Make the height h (k) of stationary state in the gait cycle:
(3) inertia height increment between walking is calculated
In adjacent step period, inertia height increment Delta h (k) is carried out secondary by the acceleration to inertia vertical direction between step
Integration method is sought.The calculated Δ h (k) of the method has accumulated error and there are unstability, is only used as judging that pedestrian is vertical
The foundation of the motor pattern in direction.
J indicates j-th of sampling in each step period, value 1,2 ... ... N in above formula；az(k, j) indicates k-th of step
Output of the accelerometer of jth time sampling in vertical direction in period；TsThe sampling output gap for indicating MEMS-IMU, takes 10- 3s；Vz(k, j-1) is the speed sampling of -1 vertical direction of jth in k-th of step period；Vz(k, 0) indicates -1 gait week of kth
The speed of vertical direction at the end of phase.
(4) threshold value of setting vertical movement pattern classification
Move vertically ∣/2 pattern classification threshold delta Yi Ban Qu ∣ Δ h (k), value 0.16m.It is mainly used for judging that pedestrian is hung down
Straight motor pattern.
(5) determine vertical movement mode
By comparing the threshold delta of difference in height Δ h (k) and vertical movement pattern classification in adjacent step period, judgement is hung down
Histogram to motion state.The motion state of vertical direction can be divided into following three types:
When Δ h (k) is greater than threshold delta, pedestrian is in state of going upstairs；
When Δ h (k) is less than threshold value-δ, pedestrian is in state of going downstairs；
When ∣ Δ h (k) ∣ is less than threshold delta, pedestrian is in plane ambulatory status.
(6) height gain of classifying between walking is calculated
When stair activity, pedestrian gradually top bar or gets out of a predicament or an embarrassing situation.The number of steps for often assuming that every step is crossed over is identical, therefore
In vertical direction, the rise and fall height of the every step of pedestrian has comparable regularity.According to SHE model, classify between step high
Spend increment Delta hcl(k) calculating is as follows:
Wherein, A is the height of each stairway step, value 0.16m.
(7) present level is sought
In the stationary state of k-th of step period, height h (k) is sought by increment accumulation method, calculation method is as follows:
H (k)=h (k-1)+Δ hcl(k) (10)
(8) it loops to determine
According to whether detecting the valid data of subsequent time to judge whether circulation continues.If detecting kth+1
The data of step period then enter step 1 and restart to update present level；Otherwise end loop.
By above step, pedestrian's vertical movement mode is classified, using the equidistant feature of each step, can be disappeared
Except inertia surveys high unstability and reduces accumulated error, positioning height is calculated.
Fig. 3 is the positioning result of F one section of BJ University of Aeronautics & Astronautics's new main building indoor stair activity, using three kinds of differences
Localization method, pedestrian goes downstairs since four layers, and positioning track is four layers and successively goes downstairs to one layer, later again from one layer according to
It is secondary to walk to four layers.Under normal gait speed, it experienced 267 gait cycles altogether.The result shows that the positioning knot of this patent
Fruit and practical story height are close, can accurately judge height where pedestrian.
The method that present patent application proposes as can be seen from Fig. 3 can reduce the accumulated error of vertical direction, and effectively disappear.
Claims (3)
1. a kind of step strapdown based on SHE model surveys high method, which is characterized in that specific steps include:
Step 1: the height of stationary state in each step period is read by zero-speed detection
Zero-speed detection information includes static and movement two states, is stationary state when ZUPT=1, is movement shape when ZUPT=0
State；Under the stationary state of k-th of gait cycle, n height value of MEMS-IMU output is respectively h (k1) ... h (kj) ..., h
(kn), wherein h (kj) is j-th of height value of inertial navigation device output under the stationary state of k-th of gait cycle；
Step 2: the height of zero-speed stationary state is averaging
Under the stationary state of k-th of gait cycle, algebraic mean is asked to the n height value that inertial navigation device calculates, is denoted as this
The height h (k) of stationary state in gait cycle:
Step 3: inertia height increment between step is calculated
In adjacent step period, inertia height increment Delta h (k) carries out quadratic integral by the acceleration to inertia vertical direction between step
Method is sought；The calculated Δ h (k) of the method has accumulated error and there are unstability, is only used as judging pedestrian's vertical direction
Motor pattern foundation；
J indicates j-th of sampling in each step period, value 1,2 ... ... N in above formula；az(k, j) indicates k-th of step period
Output of the accelerometer of middle jth time sampling in vertical direction；TsIndicate the sampling output gap of MEMS-IMU；Vz(k, j-1) is
The speed sampling of -1 vertical direction of jth in k-th of step period；Vz(k, 0) indicates Vertical Square at the end of -1 gait cycle of kth
To speed；
Step 4: setting vertical movement pattern classification threshold value
Vertical movement pattern classification threshold value is ∣/2 δ , Qu ∣ Δ h (k), and value is positive；Move vertically mode for identification；
Step 5: determine vertical movement mode
By comparing inertia height increment Delta h (k) between step and vertical movement pattern classification threshold delta, the fortune of vertical direction is judged
Dynamic state；
Step 6: height gain of classifying between walking is calculated
When stair activity, pedestrian gradually top bar or gets out of a predicament or an embarrassing situation；It is assumed that the number of steps that every step is crossed over is identical, therefore in Vertical Square
Upwards, the rise and fall height of the every step of pedestrian has comparable regularity；According to SHE model, height gain Δ of classifying between step
hcl(k) calculating is as follows:
Wherein, A is the height of each stairway step；0 represents walking in horizontal plane；- 2A representative is gone downstairs；+ 2A representative is gone upstairs；
A is the height of each stairway step, is obtained by architectural drawing or building standard；
Step 7: present level is sought
In the stationary state of k-th of step period, height h (k) is sought by increment accumulation method, calculation method is as follows:
H (k)=h (k-1)+Δ hcl(k) (7)
Step 8: it loops to determine
According to whether detecting the valid data of subsequent time to judge whether circulation continues；If detecting+1 step week of kth
The data of phase then enter step 1 and restart to update present level；Otherwise end loop.
2. a kind of step strapdown based on SHE model according to claim 1 surveys high method, it is characterised in that: step 5
In, the motion state of vertical direction is divided into following three types: when Δ h (k) is greater than threshold delta, pedestrian is in state of going upstairs；When
When Δ h (k) is less than threshold value-δ, pedestrian is in state of going downstairs；When ∣ Δ h (k) ∣ is less than threshold delta, pedestrian is in flat
Face ambulatory status.
3. a kind of step strapdown based on SHE model according to claim 1 surveys high method, it is characterised in that: A takes
0.16m。
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