CN109951806A - Rasterizing processing method for micro- inertial navigation positioning track fingerprint base - Google Patents
Rasterizing processing method for micro- inertial navigation positioning track fingerprint base Download PDFInfo
- Publication number
- CN109951806A CN109951806A CN201910105561.0A CN201910105561A CN109951806A CN 109951806 A CN109951806 A CN 109951806A CN 201910105561 A CN201910105561 A CN 201910105561A CN 109951806 A CN109951806 A CN 109951806A
- Authority
- CN
- China
- Prior art keywords
- fingerprint
- grid
- index
- micro
- scale
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Collating Specific Patterns (AREA)
- Image Input (AREA)
Abstract
The invention discloses a kind of rasterizing processing methods for micro- inertial navigation positioning track fingerprint base, comprising: step S1: coordinate conversion；Latitude and longitude coordinates in all fingerprints in the multi-source information fingerprint base of non-rasterizing are converted into local rectangular co-ordinate using utm projection；Step S2: setting interpolation scale scale obtains the grid that area is scale*scale；Step S3: grid is divided；Step S4: building grid finger print data structure is updated and is stored for fingerprint；To each ready-portioned grid, a grid finger print data structure is created for it；Step S5: existing fingerprint is included in grid.The present invention has many advantages, such as that principle is simple, Yi Shixian, facilitates update.
Description
Technical field
Present invention relates generally to field of locating technology, refer in particular to a kind of rasterizing for micro- inertial navigation positioning track fingerprint base
Processing method.
Background technique
With the development of hyundai electronics information technology, human being's production, the life stepped into information epoch and to the intelligent epoch advance,
In this course, demand of the people to position and location based service is obtained is more and more long-range, this demand also just expands
It opens up including military affairs, traffic, produce, live in interior every field.
For under outdoor environment, perfect by the development to satellite positioning navigation technology decades, positioning has been able to satisfy big
The requirement to precision under partial picture.And it is very tired accurately to obtain position due to the particularity of its environment for indoor positioning
Difficulty is now in developing stage through appointing.
Common indoor orientation method include: reckoning location technology based on inertial sensor, bluetooth location technology,
Ultra wide band (UWB) location technology, radio frequency (RFID) location technology, based on LED visible light location technology, WiFi location technology etc.
Deng, methods wide variety, but generally can only all meet the positioning requirements of certain precision under specific environment, it is each have their own excellent
Gesture and disadvantage.For example, WiFi location technology is positioned by AP deployed in use environment, thus dispose it is simple, at
This low and WiFi signal is ubiquitous, while supporting to position on the mobile apparatus, therefore is a more promising indoor positioning
Technology.But to want WiFi positioning can stable position, need positioning terminal that can receive a certain number of AP, this
Point is not that can meet under any environment.To solve this problem while being positioned using WiFi, comprehensive utilization bluetooth,
The data that magnetic etc. is convenient for while being obtained realize Multi-source Information Fusion positioning.And realize the fusions such as WiFi, bluetooth, earth magnetism positioning
Best way is fingerprint matching locating method, and the premise of this method is the fingerprint base (radio that building can be used for matching positioning
map)。
When constructing fingerprint base, two methods of single-point acquiring and continuous acquisition are commonly used to realize raw data acquisition.Single-point
Acquisition method is the data collection point that good certain density is planned in the interior space for needing to acquire data building fingerprint base, and is led to
The position coordinates that mapping obtains acquisition are crossed, then the signal on each collection point of acquisition and recording one by one.Single-point acquiring is in scientific research
There is extensive application in neutralization of commercial practice, this method is although simple and effective, but needs to take a substantial amount of time to go with energy
Mapping measurement is carried out, cost is very high.In order to improve the efficiency of creation fingerprint database, continuous acquisition method is proposed.The party
Method in signal acquisition scene map by being arranged several road signs, and mapping worker carries signal pickup assembly, between each road sign
Uniform rectilinear's walking, acquires signal on the way, and reach road sign point markers write down reach road sign time and road sign it is good, finally lead to
Track route under overwriting can be obtained the signal between road sign point by the time used in the straight line between two road signs and adopt
Collect the coordinate pointed out.This method is higher by much than above-mentioned single-point acquiring method efficiency, but has mapping worker to need uniform rectilinear
The limitation of walking.
In above-mentioned traditional approach, due to being positioned by micro- inertial navigation in the position fixing process based on multi-source information fingerprint base
Track establishes fingerprint base and belongs to continuous acquisition banking process, and the fingerprint base established is spatially non-uniform, and inconvenient
Fingerprint is done to automatically update.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind of principle is simple, Yi Shixian, the rasterizing processing method for micro- inertial navigation positioning track fingerprint base for facilitating update.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of rasterizing processing method for micro- inertial navigation positioning track fingerprint base, comprising:
Step S1: coordinate conversion；By the latitude and longitude coordinates in all fingerprints in the multi-source information fingerprint base of non-rasterizing
Local rectangular co-ordinate is converted to using utm projection；
Step S2: setting interpolation scale scale obtains the grid that area is scale*scale；
Step S3: grid is divided；
Step S4: building grid finger print data structure is updated and is stored for fingerprint；To each ready-portioned grid,
A grid finger print data structure is created for it；
Step S5: existing fingerprint is included in grid.
As a further improvement of the present invention: in the step S1, if the coordinate value after conversion is very big, choosing first
A local rectangular co-ordinate then subtracts the benchmark local coordinate system with all local rectangular co-ordinates, by all locals as reference coordinate
Rectangular coordinates transformation is to using reference coordinate as under the local rectangular coordinate system of origin.
As a further improvement of the present invention: in the step S2, the unit of interpolation scale scale is rice, value model
Enclose is 1~3.
As a further improvement of the present invention: in the step S3, all fingerprint locals right angle seat is obtained by calculation
Maximum value maxy, the minimum value miny of the maximum value maxx, minimum value minx of x-axis coordinate and y-axis coordinate in mark；By x-axis from
The region division of minx to maxx, y-axis from miny to maxy at scale*scale grid；Define the index of each grid
(indx, indy)；The index of any grid takes a location point to calculate acquisition by appointing in the region that the grid includes.
As a further improvement of the present invention: the index of the grid is (indx, indy), is obtained by following formula:
Wherein floor is downward bracket function, so then represents a grid with an index (indx, indy)；For
Any fingerprint, if its local coordinate system value is fallen in some grid, it is believed that the fingerprint is to belong to this grid；If the local of fingerprint
Coordinate (fx, fy) can then obtain the index of its affiliated grid by following formula:
As a further improvement of the present invention: including grid in the grid finger print data structure in the step S4
An index entry and a fingerprint item；The grid index of the grid is stored in index entry, fingerprint item is used to store multiple fingerprints,
These fingerprints are to acquire out of the grid includes the band of position different moments.
As a further improvement of the present invention: in the step S4, the open ended fingerprint number of fingerprint item is equipped with the upper limit,
Upper limit value is 3~5.
As a further improvement of the present invention: the step S5 includes:
The corresponding local rectangular co-ordinate (fx, fy) of each fingerprint is obtained, which calculates in step sl
It obtains；
The index (indx, indy) for calculating the affiliated grid of current finger print, being equal to by (indx, indy) lookup index entry should
The grid finger print data structure of index；In the fingerprint item in grid finger print data structure that current finger print deposit is found.
As a further improvement of the present invention: in the step S5, if the fingerprint item in grid finger print data structure
In incorporated number and be equal to and can accommodate the fingerprint number upper limit, then first compare in fingerprint item all fingerprints and current fingerprint to be deposited
Acquisition time；If the fingerprint collecting time to be deposited is earliest, the storage of fingerprint to be deposited is abandoned, otherwise, from fingerprint item
The earliest fingerprint of acquisition time is deleted, fingerprint to be deposited is stored in fingerprint item.
Compared with the prior art, the advantages of the present invention are as follows:
The fingerprint base built is done rasterizing processing by the present invention, obtains the rasterizing for facilitating update again eventually for positioning
Fingerprint base.This method can rapid build position precision be high, the rasterizing multi-source information fingerprint base complete comprising information, is easy to implement reality
Existing fingerprint database automatically updates, and provides the finger print data of precision height and long-time stable for the indoor positioning based on fingerprint matching
Information bank.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Due to establishing fingerprint base by micro- inertial navigation positioning track and belonging in the position fixing process based on multi-source information fingerprint base
Continuous acquisition banking process, the fingerprint base established is spatially non-uniform, and is inconvenient to do fingerprint and automatically update.For
This, the present invention provides a kind of rasterizing processing method for micro- inertial navigation positioning track fingerprint base, as shown in Figure 1, its step packet
It includes:
Step S1: coordinate conversion.
Latitude and longitude coordinates in all fingerprints in multi-source information fingerprint base are converted to local right angle using utm projection to sit
Mark；
If the coordinate value after conversion is very big, first local rectangular co-ordinate is chosen as reference coordinate, then with all
Ground rectangular co-ordinate subtracts the benchmark local coordinate system, by all local rectangular coordinates transformations to using reference coordinate as the local straight of origin
Under angular coordinate system；
Step S2: interpolation scale scale (such as unit as rice, value range 1~3) is set, will obtain area in this way is
The grid of scale*scale.
Step S3: grid is divided.
The maximum value maxx, minimum value minx and y-axis of x-axis coordinate in the rectangular co-ordinate of all fingerprint locals is obtained by calculation
Maximum value maxy, the minimum value miny of coordinate；
So-called rasterizing be exactly by x-axis from minx to maxx, region division of the y-axis from miny to maxy be at scale*
The grid of scale；Define the index (indx, indy) of each grid；The index of any grid can be by the grid packet
Appointing in the region contained takes a location point coordinate to calculate acquisition；
Step S4: building grid finger print data structure is updated and is stored for fingerprint.
A grid has been divided to each, has created a grid finger print data structure for it.
In specific application example, an index entry and a fingerprint item for grid is included in grid finger print data structure；
It is stored in the grid index of the grid in index entry, for fingerprint item for storing multiple fingerprints, these fingerprints are different moments from the grid
It is acquired in the band of position that lattice include.
In specific application, the open ended fingerprint number of fingerprint item is equipped with the upper limit, upper limit value 3~5.
Step S5: existing fingerprint is included in grid.
The corresponding local rectangular co-ordinate (fx, fy) of each fingerprint is obtained, which calculates in step sl
It obtains；
The index (indx, indy) for calculating the affiliated grid of current finger print, being equal to by (indx, indy) lookup index entry should
The grid finger print data structure of index；In the fingerprint item in grid finger print data structure that current finger print deposit is found.
In specific application example, it is equal to and can holds if the fingerprint Xiang Zhongyi in grid finger print data structure incorporates number
The Nasdaq index line number upper limit then first compares the acquisition time of all fingerprints and current fingerprint to be deposited in fingerprint item；If to be deposited
The fingerprint collecting time is earliest, then abandons the storage of fingerprint to be deposited, otherwise, the earliest finger of acquisition time is deleted from fingerprint item
Fingerprint to be deposited is stored in fingerprint item by line.
In specific application example, in above-mentioned steps, the index of grid is (indx, indy), is obtained by following formula:
Wherein floor is downward bracket function, so then an index (indx, indy) can be used to represent a grid.It is right
In any fingerprint, if its local coordinate system value is fallen in some grid, it is believed that the fingerprint is to belong to this grid.If the sheet of fingerprint
Ground coordinate (fx, fy) can then obtain the index of its affiliated grid by following formula:
When fingerprint stores, all fingerprints in same grid are put together and are bound into finger print data packet, with its institute
In the index of grid indexed as the finger print data packet, and the fingerprint number upper limit in data packet being limited, upper limit number takes 3 to 5,
When at most saving the fingerprint of certain number in each grid, and should all be attached to the acquisition for being stored in the fingerprint per each fingerprint
Between.
By using the above method of the invention, it will be able to the fingerprint base built be done rasterizing processing, obtained final
For positioning and facilitating the rasterizing fingerprint base of update.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (9)
1. a kind of rasterizing processing method for micro- inertial navigation positioning track fingerprint base characterized by comprising
Step S1: coordinate conversion；Latitude and longitude coordinates in all fingerprints in the multi-source information fingerprint base of non-rasterizing are utilized
Utm projection is converted to local rectangular co-ordinate；
Step S2: setting interpolation scale scale obtains the grid that area is scale*scale；
Step S3: grid is divided；
Step S4: building grid finger print data structure is updated and is stored for fingerprint；It is it to each ready-portioned grid
Create a grid finger print data structure；
Step S5: existing fingerprint is included in grid.
2. the rasterizing processing method according to claim 1 for micro- inertial navigation positioning track fingerprint base, which is characterized in that
In the step S1, if the coordinate value after conversion is very big, first local rectangular co-ordinate is chosen as reference coordinate, then is used
All local rectangular co-ordinates subtract the benchmark local coordinate system, by all local rectangular coordinates transformations to using reference coordinate as origin
Under local rectangular coordinate system.
3. the rasterizing processing method according to claim 1 for micro- inertial navigation positioning track fingerprint base, which is characterized in that
In the step S2, the unit of interpolation scale scale is rice, and value range is 1~3.
4. the rasterizing processing method according to claim 1 for micro- inertial navigation positioning track fingerprint base, which is characterized in that
In the step S3, the maximum value maxx of x-axis coordinate, minimum value in the rectangular co-ordinate of all fingerprint locals is obtained by calculation
Minx and the maximum value maxy of y-axis coordinate, minimum value miny；By x-axis from minx to maxx, region of the y-axis from miny to maxy
It is divided into the grid of scale*scale；Define the index (indx, indy) of each grid；The index of any grid by
Appointing in the region that the grid includes takes a location point to calculate acquisition.
5. the rasterizing processing method according to claim 4 for micro- inertial navigation positioning track fingerprint base, which is characterized in that
The index of the grid is (indx, indy), is obtained by following formula:
Wherein floor is downward bracket function, so then represents a grid with an index (indx, indy)；For any
Fingerprint, if its local coordinate system value is fallen in some grid, it is believed that the fingerprint is to belong to this grid；If the local coordinate system of fingerprint
(fx, fy) can then obtain the index of its affiliated grid by following formula:
6. the rasterizing processing method according to claim 1 for micro- inertial navigation positioning track fingerprint base, which is characterized in that
In the step S4, an index entry and a fingerprint item for grid is included in the grid finger print data structure；Index entry
The middle grid index for being stored in the grid, for fingerprint item for storing multiple fingerprints, these fingerprints are different moments to include from the grid
The band of position in acquire.
7. the rasterizing processing method according to claim 6 for micro- inertial navigation positioning track fingerprint base, which is characterized in that
In the step S4, the open ended fingerprint number of fingerprint item is equipped with the upper limit, and upper limit value is 3~5.
8. the rasterizing processing side according to any one of claims 1-7 for micro- inertial navigation positioning track fingerprint base
Method, which is characterized in that the step S5 includes:
The corresponding local rectangular co-ordinate (fx, fy) of each fingerprint is obtained, which calculates acquisition in step sl；
The index (indx, indy) for calculating the affiliated grid of current finger print searches index entry by (indx, indy) and is equal to the index
Grid finger print data structure；In the fingerprint item in grid finger print data structure that current finger print deposit is found.
9. the rasterizing processing method according to claim 8 for micro- inertial navigation positioning track fingerprint base, which is characterized in that
In the step S5, if the fingerprint Xiang Zhongyi in grid finger print data structure incorporate number be equal to can accommodate fingerprint number
The upper limit then first compares the acquisition time of all fingerprints and current fingerprint to be deposited in fingerprint item；If when fingerprint collecting to be deposited
Between earliest, then abandon the storage of fingerprint to be deposited, otherwise, the earliest fingerprint of acquisition time deleted from fingerprint item, will be to be deposited
Fingerprint is stored in fingerprint item.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910105561.0A CN109951806B (en) | 2019-02-01 | 2019-02-01 | Rasterization processing method for micro inertial navigation positioning track fingerprint database |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910105561.0A CN109951806B (en) | 2019-02-01 | 2019-02-01 | Rasterization processing method for micro inertial navigation positioning track fingerprint database |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109951806A true CN109951806A (en) | 2019-06-28 |
| CN109951806B CN109951806B (en) | 2021-12-14 |
Family
ID=67007523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910105561.0A Active CN109951806B (en) | 2019-02-01 | 2019-02-01 | Rasterization processing method for micro inertial navigation positioning track fingerprint database |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109951806B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102883266A (en) * | 2012-09-25 | 2013-01-16 | 方春 | Area-based information release system |
| CN105044668A (en) * | 2015-08-25 | 2015-11-11 | 武汉易得路位置科技有限公司 | Wifi fingerprint database construction method based on multi-sensor device |
| CN105916202A (en) * | 2016-06-20 | 2016-08-31 | 天津大学 | Probabilistic WiFi indoor positioning fingerprint database construction method |
| CN107801158A (en) * | 2017-10-24 | 2018-03-13 | 金陵科技学院 | Mass-rent updates the method and system of location fingerprint database |
| US20180285455A1 (en) * | 2017-03-31 | 2018-10-04 | Gracenote, Inc. | Multiple stage indexing of audio content |
| CN108810802A (en) * | 2018-06-08 | 2018-11-13 | 杭州电子科技大学 | A kind of parking garage vehicle positioning method based on iBeacon |
| CN109068274A (en) * | 2018-09-30 | 2018-12-21 | 电子科技大学 | A kind of complex indoor environment object localization method under fine granularity fingerprint quality auxiliary |
-
2019
- 2019-02-01 CN CN201910105561.0A patent/CN109951806B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102883266A (en) * | 2012-09-25 | 2013-01-16 | 方春 | Area-based information release system |
| CN105044668A (en) * | 2015-08-25 | 2015-11-11 | 武汉易得路位置科技有限公司 | Wifi fingerprint database construction method based on multi-sensor device |
| CN105916202A (en) * | 2016-06-20 | 2016-08-31 | 天津大学 | Probabilistic WiFi indoor positioning fingerprint database construction method |
| US20180285455A1 (en) * | 2017-03-31 | 2018-10-04 | Gracenote, Inc. | Multiple stage indexing of audio content |
| CN107801158A (en) * | 2017-10-24 | 2018-03-13 | 金陵科技学院 | Mass-rent updates the method and system of location fingerprint database |
| CN108810802A (en) * | 2018-06-08 | 2018-11-13 | 杭州电子科技大学 | A kind of parking garage vehicle positioning method based on iBeacon |
| CN109068274A (en) * | 2018-09-30 | 2018-12-21 | 电子科技大学 | A kind of complex indoor environment object localization method under fine granularity fingerprint quality auxiliary |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109951806B (en) | 2021-12-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105547301A (en) | Indoor map construction method and device based on geomagnetism | |
| CN105373559A (en) | Geographic information acquisition method and geographic information acquisition system | |
| CN103718062A (en) | Method for ensuring continuity of service of a personal navigation device and device thereof | |
| CN109889974A (en) | A kind of building and update method of indoor positioning multi-source information fingerprint base | |
| CN107133325A (en) | A kind of internet photo geographical space localization method based on streetscape map | |
| CN111698774B (en) | Indoor positioning method and device based on multi-source information fusion | |
| CN111223013B (en) | Intelligent tourist route generation method and system based on position markers | |
| CN103529465A (en) | Indoor and outdoor person seamless positioning device | |
| CN109697316A (en) | Urban design digitlization, virtual interactive interface system | |
| CN106940187A (en) | The air navigation aid and system quickly patrolled for grass | |
| CN105629080A (en) | Drawing method of electromagnetic distribution situation diagram or path electromagnetic distribution diagram | |
| CN112146634A (en) | Mapping method based on municipal engineering | |
| CN103487059B (en) | A kind of Position Fixing Navigation System, device and method | |
| CN102736122A (en) | Survey method for measuring and plotting by using tablet personal computer | |
| CN112614219A (en) | Spatial coordinate conversion method based on identification points for map navigation positioning | |
| CN106101621A (en) | A kind of indoor streetscape drawing system based on navigating robot and method | |
| CN109781120A (en) | A kind of vehicle combination localization method based on synchronous positioning composition | |
| CN105444755A (en) | Indoor positioning method based on space clutter signal | |
| CN110967013A (en) | Indoor area positioning system based on indoor geomagnetic field information and smart phone | |
| CN104237846A (en) | Autonomous moving object indoor three-dimensional positioning and tracking system and method | |
| CN204575069U (en) | The airborne three-dimensional laser measurement mechanism of a kind of SUAV (small unmanned aerial vehicle) | |
| CN109951806A (en) | Rasterizing processing method for micro- inertial navigation positioning track fingerprint base | |
| CN103292776B (en) | The method of intelligent movable equipment, the method obtaining position of sun and forecast sunrise sunset | |
| CN204115737U (en) | A kind of indoor positioning device based on inertial guidance and radio-frequency (RF) identification | |
| CN103698791B (en) | A kind of mobile GIS aided positioning system terminal processing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 410205 1705, building 1b, Hunan military civilian integration science and Technology Innovation Industrial Park, No. 699, Qingshan Road, Changsha high tech Development Zone, Changsha, Hunan Patentee after: Hunan yunjiangna micro Information Technology Co.,Ltd. Address before: 410205 No.5, F4 building, luguyuyuan, No.27 Wenxuan Road, Changsha high tech Development Zone, Changsha City, Hunan Province Patentee before: HUNAN GLONAVIN INFORMATION TECHNOLOGY CO.,LTD. |
|
| CP03 | Change of name, title or address |