CN109751997A - A kind of autonomous pedestrian's inertial positioning system of combination RFID calibration - Google Patents
A kind of autonomous pedestrian's inertial positioning system of combination RFID calibration Download PDFInfo
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- CN109751997A CN109751997A CN201811601260.9A CN201811601260A CN109751997A CN 109751997 A CN109751997 A CN 109751997A CN 201811601260 A CN201811601260 A CN 201811601260A CN 109751997 A CN109751997 A CN 109751997A
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Abstract
A kind of autonomous pedestrian's inertial positioning system of combination RFID calibration is claimed in the present invention, realizes pedestrian's autonomous positioning using Inertial Measurement Unit, ultrahigh frequency RFID card reader, ultrahigh frequency RFID passive label, CPU and peripheral circuit.By hyperfrequency Inertial Measurement Unit, RFID card reader, CPU and peripheral circuit are integrated into the inertial positioning device for the card reader containing ultrahigh frequency RFID that one can be worn on pedestrian's rear waist, ultrahigh frequency RFID passive label is written into nominal data needed for positioning system, it is placed according to the label Placement Strategy of combination fabric structure information, when pedestrian is when the inertial positioning device that rear waist carries the card reader containing ultrahigh frequency RFID passes through ultrahigh frequency RFID passive label, ultrahigh frequency RFID card reader can read the nominal data in ultrahigh frequency RFID passive label, and according to the error for the PDR algorithm compensation inertial positioning system for combining RFID calibration.The present invention can effectively improve the positioning accuracy of pedestrian's inertial positioning system in the case where increasing a small amount of RFID label tag, extend system and use the time.
Description
Technical field
The invention belongs to inertial positioning technical fields, and in particular to a kind of autonomous pedestrian's inertial positioning of combination RFID calibration
Method.
Background technique
Inertial positioning technology does not depend on outer signals, without layouting in advance, can be realized autonomous positioning, positions and lead in pedestrian
Domain has wide practical use.But there are accumulated errors for inertial positioning technology, can not use for a long time.Many scholars are in inertia
Numerous studies are made in Positioning System Error compensation, on the one hand, optimize to inertial positioning system algorithm, make full use of inertia
Senser element compensates accumulated error.(document: Zhao Hui, Li Qing, Li Chao correct three-dimensional localization error in building to such as Zhao Hui
Movement perception method studies [J] computer application research, 2017,34 (9): 2714-2717.) using the devices such as accelerometer into
Every trade people's recognizing model of movement is matched different step-length appraising models for different motor patterns, is constrained using motion state
Equal particular points matching process inhibits the diverging in course, to promote the precision of inertial positioning.Sun Wei etc. (document: Sun Wei, Ding Wei,
Adaptive zero-speed detection personnel positioning technology [J] the sensing technology journal of Yan Huifang .K mean cluster, 2017,30 (2): 296-
301.) zero-speed detection is optimized using K mean cluster adaptive algorithm, and combines Kalman Algorithm, limitation position error accumulation obtains
The position resolution error taken is less than 2%.On the other hand, other positioning methods of inertial positioning system are merged, accomplish have complementary advantages,
Such as Li Simin (document: fixed in the mobile phone room that Li Simin, Cai Chenglin, Wang Yana, et al. are merged based on earth magnetism fingerprint and PDR
Position system [J] sensing technology journal, 2018 (1)) propose a kind of mobile phone indoor positioning merged based on earth magnetism fingerprint and PDR
System uses the accumulated error of earth magnetism fingerprint real-time compensation PDR, position error 2m.Wu Jing so waits (document: Wu Jingran, Cui
Slowly, Zhao Zhikai, et al. mine personnel merge the automation of positioning system [J] industrial and mineral, 2018 (4)) existing Wifi network is combined,
Location algorithm is merged based on the EKF for improving RSSI fingerprinting localization algorithm and PDR algorithm, realizes personnel in the pit's positioning, it is average to position
Error is 1.79m.FabianDeng (document: FabianZhang R,Fehrenbach P,et
al.Localization system based on handheld inertial sensors and UWB[C]//IEEE
International Symposium on Inertial Sensors&Systems.IEEE, 2017.) a kind of fusion proposed
Inertial positioning merges positioning system with what UWB was positioned, position error can be reduced to 0.97m.
RFID technique Radio Frequency Identification Technology (Radio Frequency Identification, RFID) is that a kind of utilization is penetrated
Frequency signal realizes the technology of non-contact information transmitting and target identification by Space Coupling (alternating magnetic field or electromagnetic field) principle.
RFID be construct Internet of Things one of key technology (document: Tiago M.Fern á ndez-Caram é s, Fraga-Lamas P,
Manuel Suárez-Albela,et al.Reverse Engineering and Security Evaluation of
Commercial Tags for RFID-Based IoT Applications[J].Sensors,2016,17(1):28.).It is used
Property location technology because the problems such as accumulated error, can not use for a long time, but if in conjunction with RFID, it is embedding in inertial positioning system
Enter RFID reader device, a small amount of RFID label tag is placed in region indoors, by reading the data in label come to inertial positioning system
System carries out error compensation, can effectively improve the positioning accuracy of inertial positioning technology, using time etc..
Summary of the invention
Present invention seek to address that the above problem of the prior art.Inertial positioning technology can be effectively improved by proposing one kind
Positioning accuracy, the autonomous pedestrian's inertial positioning system demarcated using the combination RFID of time.Technical scheme is as follows:
A kind of autonomous pedestrian's inertial positioning system of combination RFID calibration comprising: Inertial Measurement Unit (1), hyperfrequency
RFID card reader (2), ultrahigh frequency RFID passive label (3), CPU and peripheral circuit (4), the middle collection of the Inertial Measurement Unit (1)
At three-axis gyroscope (5), three axis accelerometer (6), three axle magnetometer (7) and barometer (8), it is respectively used to obtain pedestrian angle
Speed, pedestrian acceleration, environmental magnetic field intensity, atmospheric pressure, the ultrahigh frequency RFID card reader (2) include hyperfrequency read-write mould
Block (9) and hyperfrequency ceramic antenna (10), for the data in ultrahigh frequency RFID passive label (3).The hyperfrequency inertia is surveyed
Amount unit (1), RFID card reader (2), CPU and peripheral circuit (4) be integrated into one be worn on pedestrian's rear waist containing hyperfrequency
Ultrahigh frequency RFID passive label is written in nominal data needed for positioning system by the inertial positioning device (11) of RFID card reader
(3), according to combine fabric structure information label Placement Strategy place ultrahigh frequency RFID passive label (3), when pedestrian after
Waist carry card reader containing ultrahigh frequency RFID (2) inertial positioning device pass through ultrahigh frequency RFID passive label (when 3, hyperfrequency
RFID card reader can read the nominal data (15) in ultrahigh frequency RFID passive label, and according to combination RFID calibration
The error of PDR algorithm compensation inertial positioning system
Further, hyperfrequency module for reading and writing (9) read-write frequency is 840~928MHz, the CPU and peripheral circuit
(4) sensor data acquisition, operation and the energy supply of inertial positioning device (11) are realized.
Further, the read-write frequency of the ultrahigh frequency RFID passive label (3) is 920~925MHz.
Further, the nominal data is divided into three classes: course nominal data, Wei Zhi height nominal data, step-length estimation
Coefficient nominal data.
Further, the error of the PDR algorithm compensation inertial positioning system of the combination RFID calibration, specifically includes:
A: using the amendment of course nominal data by the course of three-axis gyroscope (5) and three axle magnetometer (7) real-time resolving；
B: the position data calculated using location position data correction by PDR algorithm, and participate in follow-up location resolving；
C: correcting the altitude information resolved by atmospheric pressure using height nominal data, and participates in subsequent height and resolve；
D: the step-length appraising model coefficient in step-length estimation coefficient nominal data modification PDR algorithm is used.
Further, the nominal data read in RFID passive label (3) refers to ultrahigh frequency RFID module for reading and writing (9)
CPU will be transferred to by serial ports after USER reading data in label.
Further, the label placement policies of the combination fabric structure information specifically include: being with pedestrian's starting point O
Origin is y-axis perpendicular to pedestrian's conduct direction using pedestrian's conduct direction as x-axis, and being parallel to pedestrian body direction is z-axis, is established
Rectangular coordinate system, the initial conduct direction of pedestrianCourse angle beIt is walked according to pedestrian regular, pedestrian's conduct in corridor
When, course is generally along corridor direction or inverse corridor direction, and in conjunction with building body structure, pedestrian is when corridor AB, BC, CD, DA walk
Course angle according to initial headingIt calculates, as shown in formula (1):
Course marks calibration label are placed in corridor, when pedestrian passes through from course positioning label, according to initial heading
The current accurate course of pedestrian is extrapolated, the placement of such label all selections are vertical or parallel on the corridor of initial heading.
Further, in corridor, course marks calibration label is placed or placement location demarcates label, using starting point as origin,
By field survey, the accurate coordinate of certain point is obtained, if B point coordinate value is (xB,yB), which is written in label, when
When pedestrian's approach B point, card reader reads the calibration coordinate, to demarcate to position.
It advantages of the present invention and has the beneficial effect that:
The present invention proposes and realizes a kind of autonomous pedestrian's inertial positioning method of combination RFID calibration, is a kind of improvement
Type pedestrian's inertial positioning system, system include Inertial Measurement Unit, ultrahigh frequency RFID card reader, ultrahigh frequency RFID passive label,
CPU and peripheral circuit.Hyperfrequency Inertial Measurement Unit, RFID card reader, CPU and peripheral circuit are integrated into one by the system can
To be worn on the inertial positioning device of the card reader containing ultrahigh frequency RFID of pedestrian's rear waist, by nominal data needed for positioning system
Ultrahigh frequency RFID passive label is written, it is passive according to combining the label Placement Strategy of fabric structure information to place ultrahigh frequency RFID
Label, when pedestrian passes through ultrahigh frequency RFID passive label in the inertial positioning device that rear waist carries the card reader containing ultrahigh frequency RFID
When, ultrahigh frequency RFID card reader can read the nominal data (15) in ultrahigh frequency RFID passive label, and according to combination
The error of the PDR algorithm compensation inertial positioning system of RFID calibration.The present invention can increase a small amount of peripheral hardware, i.e. ultrahigh frequency RFID
In the case where label, the positioning accuracy of pedestrian's inertial positioning system is effectively improved, while effectively extending pedestrian's inertial positioning system
Use the time, increase the practicability of inertial positioning system.
Detailed description of the invention
Fig. 1 is that the present invention provides preferred embodiment a kind of autonomous pedestrian's inertial positioning method structure of combination RFID calibration
Figure.
Fig. 2 is that the label of combination building body structure of the present invention arranges policy map.
Fig. 3 is fixed using a kind of autonomous pedestrian's inertial positioning method progress pedestrian of combination RFID calibration of the present invention
Test effect figure when position.
Fig. 4 is the autonomous pedestrian's inertial positioning method and conventional inertia row using a kind of invention combination RFID calibration
The positioning track reduction degree change curve of people's localization method.
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:
A kind of pedestrian's inertial positioning system demarcated using RFID, pedestrian's inertial positioning system structure such as Fig. 1
Shown, system includes Inertial Measurement Unit 1, ultrahigh frequency RFID card reader 2, ultrahigh frequency RFID passive label 3, CPU and periphery electricity
Road 4.Three-axis gyroscope 5, three axis accelerometer 6, three axle magnetometer 7, barometer 8 are integrated in Inertial Measurement Unit 1.Hyperfrequency
2 module for reading and writing containing hyperfrequency of RFID card reader 9 and hyperfrequency ceramic antenna 10.The system by hyperfrequency Inertial Measurement Unit 1,
RFID card reader 2, CPU and peripheral circuit 4 are integrated into the card reader containing ultrahigh frequency RFID that can be worn on pedestrian's rear waist
Inertial positioning device 11.Inertial positioning device and ultra-high frequency RFID label needed for embodiment can be built according to Fig. 1.
Fig. 2 gives the label arrangement policy map in conjunction with fabric structure information.As shown in Fig. 2, being with pedestrian's starting point O
Origin is y-axis perpendicular to pedestrian's conduct direction using pedestrian's conduct direction as x-axis, and being parallel to pedestrian body direction is z-axis, is established
Rectangular coordinate system.The initial conduct direction of pedestrianCourse angle beIt is walked according to pedestrian regular, pedestrian's conduct in corridor
When, course is generally along corridor direction or inverse corridor direction, and in conjunction with building body structure, pedestrian is when corridor AB, BC, CD, DA walk
Course angle can be according to initial headingIt calculates, as shown in formula (1):
It is placed in corridor in this regard, course marks can be calibrated label, when pedestrian passes through from course positioning label, Bian Kegen
According to initial headingExtrapolate the current accurate course of pedestrian.To reduce the placement quantity that course marks calibration is signed, such label
All selections are placed vertical or parallel on the corridor of initial heading.
Meanwhile in corridor, course marks calibration label can have both been placed, label can also have been demarcated with placement location.It is with starting point
Origin obtains the accurate coordinate of certain point by field survey, if B point coordinate value is (xB,yB), which is written into label
In, when pedestrian's approach B point, card reader reads the calibration coordinate, to demarcate to position.
In Fig. 2, E, F point can not limit the course of pedestrian by corridor etc. not among corridor, but can be used as position mark
Fixed point.In inertial positioning system, under pedestrian's normal walking state, pedestrian position can be more accurately obtained, still
If the states such as " laterally walking ", " remaining where one is ", " retrogressing " occurs when walking in pedestrian, positioning accuracy can be seriously affected.
And pedestrian's positioning system be applied to it is practical when, as worker is positioned in the factory when, worker is on station or station
When, the laterally states such as walking can occur in some a small range, positioning system is allowed persistently to carry out incorrect position resolving, this
A little specific positions are the preferred locations for carrying out location position.Height calibration label can be placed on any position of the floor,
But should be selected when placing pedestrian's maximum probability can by place, G point by the toilet in Fig. 2.Step-length estimates coefficient
Demarcate the placement location of label, some point for the arrival that can keep straight on completely after needing that pedestrian is selected to set out, such as the point B in Fig. 2.?
It is written in the labelDistance | OB |, after pedestrian sets out, arrive at B point carry out step-length estimation values of factor K calibration after, according to
Demand is arbitrarily walked.Label is rationally placed in combination with the fabric structure feature that actual needs is positioned according to Fig. 2.
Fig. 3 gives the PDR location algorithm demarcated in conjunction with RFID, in conjunction with the combination RFID card reader provided in Fig. 1
The RFID label tag based on fabric structure information in inertial positioning device, Fig. 2 places measurement and rationally places label, so that it may press
Position resolving is carried out according to the PDR location algorithm that Fig. 3 is provided.
For autonomous pedestrian's inertial positioning method and the conventional pedestrian for verifying a kind of combination RFID calibration proposed by the invention
The difference and optimization of localization method devise the feasibility and advantage of following four groups of experimental verification this method.
Experiment one: tester is tested using the positioning device that normal pedestrian's inertial positioning method is positioned
Experiment two: tester it is proposed by the invention a kind of combination RFID calibration autonomous pedestrian's inertial positioning method into
The positioning device of row positioning is tested, but only carries out course calibration in the algorithm.
Experiment three: tester it is proposed by the invention a kind of combination RFID calibration autonomous pedestrian's inertial positioning method into
Row positioning positioning device tested, but in the algorithm only carry out position height calibration.
Experiment four: tester it is proposed by the invention a kind of combination RFID calibration autonomous pedestrian's inertial positioning method into
The positioning device of row positioning is tested, but only carries out step-length estimation coefficient calibration in the algorithm.
Experimental data is arranged, test result shown in Fig. 3 is given, in the figure, Grey Point is the position acquired in experiment
Data, solid black lines are the standard movement track obtained by measurement, and the region that dash-dotted gray line delimited is that criterion distance track is bent
The error range of line 2m, the range calculate track reduction degree for assisting.The data are analyzed, are provided shown in Fig. 4
Track reduction degree curve.Wherein the calculating of track reduction degree carries out as follows:
Distance/total distance of track matching degree=measurement track coincidence approximate with true track
Wherein, the approximate standard being overlapped are as follows: measurement track is appeared in using true track as the center of circle, should in the circle that radius is
Line orthogonal where disk and track.
In experiment one, when walking according to desired trajectory for the 4th time, pedestrian is directly resulted in since course resolves mistake
Motion profile differs greatly with standard trajectory, in conjunction with the track reduction degree curve in Fig. 4, can intuitively find out, with equipment
Using the extension of time, gradually decreased using inertia pedestrian's Locating System Accuracy of common localization method.Although not occurring
In the case that course resolves mistake, pedestrian movement's trajectory shape is still similar with standard trajectory shape, but since early period moves rail
Mark deviates too far with standard curve, and the positioning result in later period has accumulated the position error of early period, and error is also more and more obvious.
The a large amount of test datas carried out during binding are analyzed, and the reason for course resolving mistake occur may be: one is
By in attitude algorithm algorithmic procedure, when pedestrian turns to, in fact it could happen that the phenomenon that " understeer ", and repeatedly accumulate this error
It this may result in pedestrian's track to continue to deviate in one direction and generate mistake.
In experiment two, due to increasing course calibration, in entire test process, there are not the feelings that course resolves mistake
Condition.It is demarcated by course, although effectively increasing the positioning accuracy of system there is no " accumulated error " is solved the problems, such as.Together
The conclusion of sample is also embodied in the experiment four for carrying out step-length estimation coefficient calibration, after calibration, test result after sixty minutes
In, track reduction degree is still higher than common localization method.
The track reduction degree of experiment three is superior to other several groups of experiments, also, can effectively solve by location position general
The accumulated error problem of pedestrian's localization method algorithm, figure 4, it is seen that track reduction degree does not reduce at any time.Make
Stablized within the scope of 2m with the error that after sixty minutes, can guarantee PDR algorithm.
It can by inventing a kind of autonomous pedestrian's inertial positioning method of combination RFID calibration in conjunction with all experimental datas
Effectively improve the positioning accuracy of pedestrian's positioning.In the case where only carrying out course calibration and step-length estimation coefficient calibration, the algorithm
The accumulated error being able to suppress in pedestrian's localization method；Carry out position height calibration in the case where, can effectively inhibit pedestrian
Accumulated error in localization method, using that after sixty minutes, can guarantee track reduction degree still 90% or more, i.e. guarantee is calculated
The error of method is stablized within the scope of 2m.
As stated above, a kind of autonomous pedestrian's inertial positioning method of combination RFID calibration of the present invention, can increase on a small quantity
Peripheral hardware that is, in the case where ultra-high frequency RFID label, effectively improves the positioning accuracy of pedestrian's inertial positioning system, while effectively extending
Pedestrian's inertial positioning system uses the time.
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 (8)
1. a kind of autonomous pedestrian's inertial positioning system of combination RFID calibration characterized by comprising Inertial Measurement Unit (1),
Ultrahigh frequency RFID card reader (2), ultrahigh frequency RFID passive label (3), CPU and peripheral circuit (4), the Inertial Measurement Unit
(1) it is integrated with three-axis gyroscope (5), three axis accelerometer (6), three axle magnetometer (7) and barometer (8) in, is respectively used to obtain
Pedestrian's angular speed, pedestrian acceleration, environmental magnetic field intensity, atmospheric pressure are taken, the ultrahigh frequency RFID card reader (2) includes superelevation
Frequency module for reading and writing (9) and hyperfrequency ceramic antenna (10), for the data in ultrahigh frequency RFID passive label (3).The inertia
Measuring unit (1), ultrahigh frequency RFID card reader (2), CPU and peripheral circuit (4) are integrated into one and are worn on pedestrian's rear waist
The inertial positioning device (11) of the card reader containing ultrahigh frequency RFID, by nominal data needed for positioning system write-in ultrahigh frequency RFID without
Source label (3) works as row according to combining the label Placement Strategy of fabric structure information to place ultrahigh frequency RFID passive label (3)
People when rear waist carries the inertial positioning device of card reader containing ultrahigh frequency RFID (2) by ultrahigh frequency RFID passive label (3),
Ultrahigh frequency RFID card reader can read the nominal data (15) in ultrahigh frequency RFID passive label, and mark according to combination RFID
The error of fixed PDR pedestrian's reckoning algorithm compensation inertial positioning system, the CPU and peripheral circuit (4) realize that inertia is fixed
Sensor data acquisition, operation and the energy supply of position device (11).
2. a kind of autonomous pedestrian's inertial positioning system of combination RFID calibration according to claim 1, which is characterized in that institute
Stating hyperfrequency module for reading and writing (9) read-write frequency is 840~928MHz.
3. a kind of autonomous pedestrian's inertial positioning system of combination RFID calibration according to claim 1, which is characterized in that institute
The read-write frequency for stating ultrahigh frequency RFID passive label (3) is 920~925MHz.
4. a kind of autonomous pedestrian's inertial positioning system of combination RFID calibration, feature described in one of -3 according to claim 1
It is, the nominal data is divided into three classes: course nominal data, Wei Zhi height nominal data, step-length estimation coefficient calibration number
According to.
5. a kind of autonomous pedestrian's inertial positioning system of combination RFID calibration, feature described in one of -3 according to claim 1
It is, the error of PDR pedestrian's reckoning algorithm compensation inertial positioning system of the combination RFID calibration specifically includes:
A: using the amendment of course nominal data by the course of three-axis gyroscope (5) and three axle magnetometer (7) real-time resolving；
B: the position data calculated using location position data correction by PDR algorithm, and participate in follow-up location resolving；
C: correcting the altitude information resolved by atmospheric pressure using height nominal data, and participates in subsequent height and resolve；
D: the step-length appraising model coefficient in step-length estimation coefficient nominal data modification PDR algorithm is used.
6. a kind of autonomous pedestrian's inertial positioning system of combination RFID calibration, feature described in one of -3 according to claim 1
It is, the nominal data read in RFID passive label (3) refers to ultrahigh frequency RFID module for reading and writing (9) by USER in label
CPU is transferred to by serial ports after reading data.
7. a kind of autonomous pedestrian's inertial positioning system of combination RFID calibration, feature described in one of -3 according to claim 1
It is, the label placement policies of the combination fabric structure information specifically include: using pedestrian's starting point O as origin, with pedestrian
Conduct direction is x-axis, is y-axis perpendicular to pedestrian's conduct direction, and being parallel to pedestrian body direction is z-axis, establishes rectangular coordinate system,
The initial conduct direction of pedestrianCourse angle beIt is walked according to pedestrian regular, for pedestrian in corridor when conduct, course is general
Along corridor direction or inverse corridor direction, in conjunction with building body structure, course angle of the pedestrian when corridor AB, BC, CD, DA walk according to
Initial headingIt calculates, as shown in formula (1):
Course marks calibration label are placed in corridor, when pedestrian passes through from course positioning label, according to initial headingIt calculates
The current accurate course of pedestrian out, the placement of such label all selections are vertical or parallel on the corridor of initial heading.
8. a kind of autonomous pedestrian's inertial positioning system of combination RFID calibration according to claim 7, which is characterized in that
In corridor, course marks calibration label or placement location calibration label are placed using starting point as origin and, by field survey, obtains certain
The accurate coordinate of a bit, if B point coordinate value is (xB,yB), which is written in label, when pedestrian's approach B point, card reading
Device reads the calibration coordinate, to demarcate to position.
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Application publication date: 20190514 |
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