CN109982245B - Indoor real-time three-dimensional positioning method - Google Patents

Indoor real-time three-dimensional positioning method Download PDF

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CN109982245B
CN109982245B CN201910270425.7A CN201910270425A CN109982245B CN 109982245 B CN109982245 B CN 109982245B CN 201910270425 A CN201910270425 A CN 201910270425A CN 109982245 B CN109982245 B CN 109982245B
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pedestrian
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inertial navigation
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CN109982245A (en
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徐小龙
刘欣欣
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Nanjing University of Posts and Telecommunications
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

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  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

An indoor real-time three-dimensional positioning method comprises pedestrian initial position judgment based on Wi-Fi, pedestrian dynamic position tracking based on inertial navigation, inertial navigation positioning correction based on virtual landmark points and floor judgment based on inertial navigation and a barometer. The method integrates Wi-Fi positioning and inertial navigation technologies to perform two-dimensional positioning, combines indoor layout, sets a virtual landmark point to correct the position of a user, reduces the accumulated error of inertial navigation positioning, and improves indoor positioning accuracy. Meanwhile, the height information, namely the floor information, is judged by combining inertial navigation and a barometer, so that the three-dimensional positioning requirement in the indoor positioning field is met. The method only needs to use Wi-Fi positioning when an initial position is positioned, can use existing Wi-Fi nodes in a building without knowing specific positions of the nodes in advance, adopts virtual road mark points for subsequent inertial navigation positioning error correction without combining more external equipment for positioning, and is high in positioning accuracy, low in cost, good in practicability and strong in popularization.

Description

Indoor real-time three-dimensional positioning method
Technical Field
The invention relates to an indoor real-time three-dimensional positioning method, and belongs to the field of mobile computing technology application.
Background
Along with rapid progress and rapid economic development of modern society, urbanization is more and more serious, more and more people come into cities, and then buildings are higher and larger, and large buildings are more and more, such as cinemas, shopping malls, gymnasiums and the like are more and more dense. Research shows that people in modern society increasingly move indoors, and the average 80-90% of the time of people is indoor, so that the indoor positioning technology has wide application prospect, for example, the indoor positioning technology can be used in large warehouses, supermarkets and logistics enterprises to realize the quick positioning of articles, save the time for storing and taking articles, and achieve the purpose of scientific management; in large indoor occasions such as markets, underground garages and exhibitions, the demands of people on accurate indoor positioning and navigation are increasingly urgent, and for general users, in unfamiliar and complex indoor environments, accurate positioning can help the users to know the positions of the users in real time, so that the users can plan the advancing route under the condition of knowing the destination, quickly reach the destination and avoid the condition of getting lost.
In the aspect of indoor positioning technology, indoor positioning technologies such as wireless network-based, bluetooth-based and radio frequency identification-based are commonly used at present, some of the positioning technologies rely on specific equipment, the positioning cost is higher, some have higher requirements on the environment, no good environmental adaptability is provided, and the positioning accuracy is lower. In recent years, positioning by inertial navigation and positioning by geomagnetism become research hotspots, because the two positioning technologies do not need to depend on specific equipment, and the positioning cost is low.
However, in view of the development of indoor positioning, the existing indoor positioning system and solution still have many problems:
(1) many positioning systems only use a single technique for positioning, but the single technique is difficult to achieve the desired positioning accuracy. When Wi-Fi positioning is used alone, the problem of signal attenuation caused by noise of human bodies, obstacles and the like is difficult to solve, so that a large positioning error is generated, and the error is difficult to effectively reduce even through an optimized positioning algorithm.
(2) Many positioning techniques require hardware that is costly and has a small positioning range. Such as positioning using infrared cameras, although these positioning techniques have relatively high accuracy, the equipment used is expensive and sometimes has high environmental requirements.
(3) Many positioning technologies have poor environmental suitability and have high requirements on positioning environments during positioning. For example, the Active wedge system uses an infrared sensor, which is mainly positioned according to light, so that it is necessary to ensure that the brightness of light in a room is stable enough when the system is used, and the environmental adaptability of the positioning method is too poor.
(4) The existing indoor positioning scheme is mainly directed at two-dimensional space, and as the urban space is more crowded, the more floors in the city are built, the higher the floors are, only two-dimensional information cannot meet the requirements of users, therefore, the indoor three-dimensional positioning of the users is important, and more accurate three-dimensional position information is provided for the users.
Therefore, how to provide accurate, low-cost and user-friendly three-dimensional indoor positioning service for users still remains to be solved.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method integrates Wi-Fi positioning and inertial navigation technologies to perform two-dimensional positioning on a user, combines indoor layout to set a certain virtual landmark point on the basis of inertial navigation, corrects the position of the user by using the virtual landmark point, reduces the accumulated error of the inertial navigation positioning, improves the accuracy of the indoor positioning, judges the height information, namely the floor information, of the user by combining the inertial navigation and a barometer, completes the three-dimensional positioning of the user, further meets the requirement of the three-dimensional positioning aspect of the indoor positioning aspect at present, and has higher accuracy, real-time performance and low cost.
An indoor real-time three-dimensional positioning method comprises the following steps:
step 1, judging the initial position of a pedestrian based on Wi-Fi; when positioning starts, matching Wi-Fi signals detected in real time with a Wi-Fi fingerprint database established in advance to obtain an initial three-dimensional position of a pedestrian;
step 2, tracking the pedestrian dynamic position based on inertial navigation; continuously positioning a real-time two-dimensional position of a pedestrian through a pedestrian dead reckoning model according to sensor data of the intelligent equipment;
step 3, inertial navigation positioning correction based on the virtual road mark points; correcting the position of the pedestrian according to the preset position of the virtual road sign point and by combining the result of inertial navigation positioning so as to reduce the accumulated error of inertial navigation;
step 4, judging floors based on inertial navigation and barometers; and judging the floor where the pedestrian is currently located according to the variation of the air pressure measured by the barometer of the pedestrian within a certain step number, and obtaining the height information of the pedestrian.
Further, the Wi-Fi-based pedestrian initial position determination specifically includes the steps of:
step 1-1, defaulting that the pedestrian is at some specific place with a high probability when positioning is started, such as doorways and stairways of some rooms, and the construction of each floor of each building is similar, so that firstly, according to a plan view of an indoor environment to be positioned, a coordinate system is established for a two-dimensional plan view of each floor, the doorways and the stairways of each room of each floor are taken as positions where the pedestrian can start to be positioned, and coordinates of the positions, including floor, abscissa x and ordinate y, are recorded;
step 1-2, in an off-line stage, scanning by intelligent equipment at each preset position to obtain a plurality of groups of RSSI values of an AP of a specified SSID, calculating the mean value of the RSSI of each AP, storing the physical position coordinates (x, y), floor, BSSID and RSSI mean value of the first n APs with the largest RSSI as a fingerprint, and forming a Wi-Fi fingerprint database by the fingerprints of all positions, wherein the SSID refers to the name of Wi-Fi, the AP refers to a Wi-Fi access point, the RSSI refers to the signal strength value of Wi-Fi, the BSSID refers to the address of the AP and is also the unique identifier of the AP;
step 1-3, in an online positioning stage, scanning by the intelligent equipment at a position point to be positioned to obtain a plurality of groups of RSSI values of the APs of the appointed SSID, calculating the mean value of the RSSI of each AP, and storing the BSSID and the mean value of the RSSI of the first n APs with the maximum RSSI as AP data of the position point;
step 1-4, matching the AP data of the position point to be positioned with the data in the Wi-Fi fingerprint database, firstly, matching and finding out the records with the same BSSID and the largest number, if the records are unique, directly returning the position corresponding to the records as the initial position of the positioned pedestrian, and otherwise, turning to step 1-5;
and 1-5, if a plurality of records with the same BSSID and the maximum number exist, performing fingerprint distance calculation on the AP with the same BSSID, and finding out the position of one record with the shortest distance as the initial position of the positioned pedestrian.
Further, the pedestrian dynamic position tracking based on inertial navigation specifically comprises the following steps:
step 2-1, acquiring acceleration data of walking of the pedestrian according to an accelerometer built in the intelligent device in the walking process of the pedestrian, judging whether the pedestrian walks by one step or not according to the acceleration data, and if so, turning to step 2-2;
step 2-2, finishing pedestrian step length estimation in the step according to the characteristics of different pedestrians;
step 2-3, acquiring a heading angle of each step of the pedestrian through a direction sensor arranged in the intelligent equipment;
and 2-4, calculating the position of each step of the pedestrian according to the initial position of the pedestrian and the step length and the heading angle of each step of the pedestrian, thereby completing the two-dimensional position tracking of the pedestrian.
Further, the inertial navigation positioning correction based on the virtual landmark point specifically includes the following steps:
step 3-1, selecting a proper corner place as a virtual landmark point in an indoor environment, and determining a coordinate point of the virtual landmark point in a coordinate system;
and 3-2, checking the change of the heading angle of each four steps of the pedestrian, specifically, after the pedestrian is detected to walk one step by using inertial navigation, reading the heading angle of the pedestrian at the moment, and checking whether the absolute value of the absolute value and the change value of the heading angle of the pedestrian in the previous three steps is within the range of 90 degrees +/-theta, wherein theta is a proper angle error threshold value, and theta is more than or equal to 0. If the range is met, turning to the step 3-3; otherwise, turning to the step 3-4;
3-3, reading coordinates (x, y) of the previous step of the pedestrian positioned by inertial navigation and coordinates of all virtual landmark points, respectively calculating Euclidean distances between the coordinates (x, y) and the coordinates of all virtual landmark points, finding out the coordinate of the virtual landmark point with the minimum distance as the coordinate of the previous step of the pedestrian, thereby correcting the positioning position of the pedestrian, and turning to the step 3-4;
and 3-4, calculating the coordinates of the pedestrian after the step according to the step length and the heading angle of the pedestrian, and turning to the step 3-2 until the positioning is finished.
Further, the step of determining the floor based on inertial navigation and barometer specifically comprises the steps of:
step 4-5, the initial floor of the pedestrian can be positioned when the Wi-Fi is initially positioned, and in the step, the step number stepNum for checking the air pressure change is determined according to the level number of stairs of an indoor venue;
step 4-6, judging whether the pedestrian walks one step or not according to inertial navigation, checking the difference between the air pressure value obtained by the built-in barometer of the intelligent equipment after the step of the stepNum and the air pressure value before the step of the stepNum every step of the stepNum, checking whether the absolute value of the difference is within the range of a threshold value or not, if so, turning to the step 4-7, otherwise, repeating the step;
and 4-7, further judging whether the difference is a positive value or a negative value, if the difference is positive, subtracting 1 from the floor, if the difference is negative, adding 1 to the floor, and turning to the step 4-6 until the positioning is finished.
Further, in the step 1-5, the formula of the fingerprint distance calculation is:
Figure BDA0002018178530000061
wherein D isjThe fingerprint distance between the jth fingerprint in the fingerprint database and the RSSI values of n Wi-Fi signal sources currently received by the position to be positioned is represented; r isiThe RSSI value of the ith Wi-Fi signal source detected at the current position is represented; f. ofjiThe RSSI value of the ith Wi-Fi signal source in the jth fingerprint of the fingerprint library is represented; q represents a distance selected in calculation, and when q is 1, DjExpressed is a fingerprint distance value calculated by using a Manhattan distance, and when q is 2, DjThe fingerprint distance value calculated by using the euclidean distance is shown, and in general, the euclidean distance is calculated by taking q equal to 2.
Further, in the step 2-4, the formula of the position of each step of the pedestrian is obtained by calculation according to the initial position of the pedestrian and the step length and the heading angle of each step of the pedestrian as follows:
Figure BDA0002018178530000062
wherein (x)0,y0) As the initial position of the pedestrian, SLiStep length of each step, theta, of the pedestrianiThe direction angle of the step of the pedestrian, and k is the current step number of the pedestrian.
Further, in the step 4-5, the number of steps stepNum for checking the air pressure variation is determined to be two times the number of steps of each staircase plus four according to the number of steps of the stairway of the indoor venue.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the indoor real-time three-dimensional positioning method can be used for positioning the three-dimensional position of an indoor pedestrian in real time, further meets the requirement of the current indoor positioning on three-dimensional positioning, and has higher accuracy, low cost and user friendliness.
2. The indoor real-time three-dimensional positioning method only needs to use Wi-Fi for positioning the initial position of the pedestrian, can use existing Wi-Fi nodes in a building without knowing the specific positions of the nodes in advance, and is low in cost, good in practicability and strong in popularization.
3. According to the indoor real-time three-dimensional positioning method, the virtual road mark points are adopted for correcting the inertial navigation positioning error, other methods needing to be combined with more external equipment for positioning are not adopted, and the cost and complexity required by positioning are reduced to the greatest extent.
4. According to the indoor real-time three-dimensional positioning method, when the height information, namely the floor, of the user is judged, the traditional differential pressure method with low precision is abandoned, and the switching judgment of the pedestrian floor is real-time and accurate by combining inertial navigation and a barometer.
Drawings
Fig. 1 is a flow chart of an indoor real-time three-dimensional indoor positioning method in the invention.
FIG. 2 is an exemplary environment diagram of the present invention.
FIG. 3 is a schematic diagram of selected virtual waypoints in an exemplary environment of the present invention.
FIG. 4 is a flow chart of inertial navigation in the present invention.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
Fig. 2 shows an environment diagram of each floor of an indoor environment in which the present invention is applied to a computer science building of the university of tokyo post and telecommunications for three-dimensional positioning, in which the marked points are position points from which pedestrians may start, and the start points are spaced apart by a certain distance.
Fig. 1 shows a flowchart of an indoor real-time three-dimensional indoor positioning method when an intelligent device performs indoor positioning, and the detailed steps of this embodiment are described in detail below with reference to fig. 1.
An indoor real-time three-dimensional positioning method comprises the following steps:
step 1, judging the initial position of a pedestrian based on Wi-Fi; when positioning starts, matching the Wi-Fi signals detected in real time with a Wi-Fi fingerprint database established in advance to obtain the initial three-dimensional position of the pedestrian.
The Wi-Fi-based pedestrian initial position determination specifically comprises the following steps:
in step 1-1, the default pedestrian is located at a certain specific place with a high probability when positioning is started, such as doorways and stairways of some rooms, and the construction of each floor of each building is similar, so that, firstly, a coordinate system is established for the two-dimensional plane map of each floor according to the plane map of the indoor environment to be positioned, the doorways and stairways of each room of each floor are taken as the positions where the pedestrian can start to be positioned, and the coordinates of the positions, including floor, abscissa x and ordinate y, are recorded.
Step 1-2, in an off-line stage, the intelligent device scans a plurality of groups of RSSI values of the APs of the appointed SSID on each preset position, calculates the mean value of the RSSI of each AP, stores the physical position coordinates (x, y), the floor, the BSSID and the mean value of the RSSI of the first n APs with the largest RSSI as a fingerprint, and forms a Wi-Fi fingerprint database by the fingerprints of all the positions, wherein the SSID refers to the name of Wi-Fi, the AP refers to a Wi-Fi access point, the RSSI refers to the signal strength value of the Wi-Fi, the BSSID refers to the address of the AP and is also the unique identifier of the AP.
Step 1-3, in the on-line positioning stage, the intelligent equipment scans at a position point to be positioned to obtain a plurality of groups of RSSI values of the APs of the appointed SSID, calculates the mean value of the RSSI of each AP, and stores the BSSID and the mean value of the RSSI of the first n APs with the maximum RSSI as the AP data of the position point.
And 1-4, matching the AP data of the position point to be positioned with the data in the Wi-Fi fingerprint database, firstly, matching and finding out the record with the same BSSID and the largest number, if the record is unique, directly returning the position corresponding to the record as the initial position of the positioned pedestrian, and otherwise, turning to the step 1-5.
And 1-5, if a plurality of records with the same BSSID and the maximum number exist, performing fingerprint distance calculation on the AP with the same BSSID, and finding out the position of one record with the shortest distance as the initial position of the positioned pedestrian.
In the steps 1-5, the formula of the fingerprint distance calculation is as follows:
Figure BDA0002018178530000091
wherein D isjThe fingerprint distance between the jth fingerprint in the fingerprint database and the RSSI values of n Wi-Fi signal sources currently received by the position to be positioned is represented; r isiThe RSSI value of the ith Wi-Fi signal source detected at the current position is represented; f. ofjiThe RSSI value of the ith Wi-Fi signal source in the jth fingerprint of the fingerprint library is represented; q represents a distance selected in calculation, and when q is 1, DjExpressed is a fingerprint distance value calculated by using a Manhattan distance, and when q is 2, DjThe fingerprint distance value calculated by using the euclidean distance is shown, and in general, the euclidean distance is calculated by taking q equal to 2.
Step 2, tracking the pedestrian dynamic position based on inertial navigation; the process is as shown in fig. 4, and the real-time two-dimensional position of the pedestrian is continuously located through the pedestrian dead reckoning model according to the sensor data of the intelligent device.
The pedestrian dynamic position tracking based on inertial navigation specifically comprises the following steps:
step 2-1, acquiring acceleration data of walking of the pedestrian according to an accelerometer built in the intelligent device in the walking process of the pedestrian, judging whether the pedestrian walks one step or not according to the acceleration data, and if so, turning to step 2-2. The algorithm for judging whether the pedestrian walks by one step can be a wave crest method, a proximity average method and the like.
And 2-2, finishing pedestrian step length estimation in the step according to the characteristics of different pedestrians.
And 2-3, acquiring the heading angle of each step of the pedestrian through a direction sensor built in the intelligent equipment.
And 2-4, calculating the position of each step of the pedestrian according to the initial position of the pedestrian and the step length and the heading angle of each step of the pedestrian, thereby completing the two-dimensional position tracking of the pedestrian.
In the step 2-4, the formula for calculating the position of each step of the pedestrian according to the initial position of the pedestrian and the step length and the heading angle of each step of the pedestrian is as follows:
Figure BDA0002018178530000101
wherein (x)0,y0) As the initial position of the pedestrian, SLiStep length of each step, theta, of the pedestrianiThe direction angle of the step of the pedestrian, and k is the current step number of the pedestrian.
Step 3, inertial navigation positioning correction based on the virtual road mark points; and correcting the position of the pedestrian according to the preset position of the virtual road sign point and by combining the result of inertial navigation positioning so as to reduce the accumulated error of inertial navigation.
The inertial navigation positioning correction based on the virtual landmark point specifically comprises the following steps:
and 3-1, selecting a proper corner place as a virtual landmark point in an indoor environment, and determining a coordinate point of the virtual landmark point in a coordinate system. Referring to FIG. 3, three labeled points in FIG. 3 show virtual waypoints chosen in this example environment, all at a turn.
And 3-2, checking the change of the heading angle of each four steps of the pedestrian, specifically, after the pedestrian is detected to walk one step by using inertial navigation, reading the heading angle of the pedestrian at the moment, and checking whether the absolute value of the absolute value and the change value of the heading angle of the pedestrian in the previous three steps is within the range of 90 degrees +/-theta, wherein theta is a proper angle error threshold value, and theta is more than or equal to 0. If the range is met, turning to the step 3-3; otherwise, turning to the step 3-4.
And 3-3, reading the coordinates (x, y) of the previous step of the pedestrian positioned by inertial navigation and the coordinates of all virtual landmark points, respectively calculating Euclidean distances between the coordinates (x, y) and all the virtual landmark points, finding out the coordinate of the virtual landmark point with the minimum distance as the coordinate of the previous step of the pedestrian, thereby correcting the positioning position of the pedestrian, and turning to the step 3-4.
And 3-4, calculating the coordinates of the pedestrian after the step according to the step length and the heading angle of the pedestrian, and turning to the step 3-2 until the positioning is finished.
Step 4, judging floors based on inertial navigation and barometers; and judging the floor where the pedestrian is currently located according to the variation of the air pressure measured by the barometer of the pedestrian within a certain step number, and obtaining the height information of the pedestrian.
The step of floor determination based on inertial navigation and barometer specifically comprises the following steps:
and 4-5, positioning the initial floor of the pedestrian when the Wi-Fi is initially positioned, wherein in the step, the step number stepNum for checking the air pressure change is determined according to the level number of stairs of an indoor venue. In the step 4-5, the number of steps stepNum for checking the change of the air pressure is determined to be two times plus four times the number of steps of each stair according to the number of steps of the stairs of the indoor venue, such as stepNum of 30 in the environment shown in fig. 2.
And 4-6, judging whether the pedestrian walks one step or not according to inertial navigation, checking the difference between the air pressure value obtained by the built-in air pressure meter of the intelligent equipment after the step of the stepNum and the air pressure value before the step of the stepNum every step of the stepNum, checking whether the absolute value of the difference is within the range of a threshold value or not, if so, turning to the step 4-7, otherwise, repeating the step.
And 4-7, further judging whether the difference is a positive value or a negative value, if the difference is positive, subtracting 1 from the floor, if the difference is negative, adding 1 to the floor, and turning to the step 4-6 until the positioning is finished.
Therefore, the pedestrian can be continuously positioned in three dimensions according to the steps, and the three-dimensional position information of the pedestrian is obtained.
The indoor real-time three-dimensional positioning method can position the three-dimensional position of an indoor pedestrian in real time, further meets the current requirement on three-dimensional positioning in the indoor positioning aspect, has higher accuracy, low cost and user friendliness, only needs to use Wi-Fi positioning when positioning the initial position of the pedestrian, can use existing Wi-Fi nodes in a building without knowing the specific positions of the nodes in advance, adopts virtual road mark points in the correction of inertial navigation positioning errors, does not adopt other methods needing to be combined with more external equipment for positioning, reduces the cost and complexity required by positioning to the greatest extent, and has good practicability and strong popularization. In addition, when the height information of the user, namely the floor, is judged, the traditional differential pressure method with low precision is abandoned, and the switching judgment of the pedestrian floor is real-time and accurate by combining inertial navigation and a barometer.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.

Claims (7)

1. An indoor real-time three-dimensional positioning method is characterized by comprising the following steps:
step 1, judging the initial position of a pedestrian based on Wi-Fi; when positioning starts, matching Wi-Fi signals detected in real time with a Wi-Fi fingerprint database established in advance to obtain an initial three-dimensional position of a pedestrian;
step 2, tracking the pedestrian dynamic position based on inertial navigation; continuously positioning a real-time two-dimensional position of a pedestrian through a pedestrian dead reckoning model according to sensor data of the intelligent equipment;
step 3, inertial navigation positioning correction based on the virtual road mark points; correcting the position of the pedestrian according to the preset position of the virtual road sign point and by combining the result of inertial navigation positioning so as to reduce the accumulated error of inertial navigation;
the inertial navigation positioning correction based on the virtual landmark point specifically comprises the following steps:
step 3-1, selecting a proper corner place as a virtual landmark point in an indoor environment, and determining a coordinate point of the virtual landmark point in a coordinate system;
step 3-2, checking the change of the heading angle of each four steps of the pedestrian, specifically, after the pedestrian is detected to walk one step by using inertial navigation, reading the heading angle of the pedestrian at the moment, checking whether the absolute value of the absolute value and the change value of the heading angle of the pedestrian in the previous three steps is within the range of 90 degrees +/-theta, wherein theta is a proper angle error threshold value, theta is more than or equal to 0, and if the absolute value meets the range, turning to the step 3-3; otherwise, turning to the step 3-4;
3-3, reading coordinates (x, y) of the previous step of the pedestrian positioned by inertial navigation and coordinates of all virtual landmark points, respectively calculating Euclidean distances between the coordinates (x, y) and the coordinates of all virtual landmark points, finding out the coordinate of the virtual landmark point with the minimum distance as the coordinate of the previous step of the pedestrian, thereby correcting the positioning position of the pedestrian, and turning to the step 3-4;
step 3-4, calculating the coordinates of the pedestrian after the step according to the step length and the heading angle of the pedestrian, and turning to the step 3-2 until the positioning is finished;
step 4, judging floors based on inertial navigation and barometers; and judging the floor where the pedestrian is currently located according to the variation of the air pressure measured by the barometer of the pedestrian within a certain step number, and obtaining the height information of the pedestrian.
2. The indoor real-time three-dimensional positioning method according to claim 1, characterized in that: the Wi-Fi-based pedestrian initial position determination specifically comprises the following steps:
step 1-1, defaulting that the pedestrian is at some specific place with a high probability when positioning is started, such as doorways and stairways of some rooms, and the construction of each floor of each building is similar, so that firstly, according to a plan view of an indoor environment to be positioned, a coordinate system is established for a two-dimensional plan view of each floor, the doorways and the stairways of each room of each floor are taken as positions where the pedestrian can start to be positioned, and coordinates of the positions, including floor, abscissa x and ordinate y, are recorded;
step 1-2, in an off-line stage, scanning by intelligent equipment at each preset position to obtain a plurality of groups of RSSI values of an AP of a specified SSID, calculating the mean value of the RSSI of each AP, storing the physical position coordinates (x, y), floor, BSSID and RSSI mean value of the first n APs with the largest RSSI as a fingerprint, and forming a Wi-Fi fingerprint database by the fingerprints of all positions, wherein the SSID refers to the name of Wi-Fi, the AP refers to a Wi-Fi access point, the RSSI refers to the signal strength value of Wi-Fi, the BSSID refers to the address of the AP and is also the unique identifier of the AP;
step 1-3, in an online positioning stage, scanning by the intelligent equipment at a position point to be positioned to obtain a plurality of groups of RSSI values of the APs of the appointed SSID, calculating the mean value of the RSSI of each AP, and storing the BSSID and the mean value of the RSSI of the first n APs with the maximum RSSI as AP data of the position point;
step 1-4, matching the AP data of the position point to be positioned with the data in the Wi-Fi fingerprint database, firstly, matching and finding out the records with the same BSSID and the largest number, if the records are unique, directly returning the position corresponding to the records as the initial position of the positioned pedestrian, and otherwise, turning to step 1-5;
and 1-5, if a plurality of records with the same BSSID and the maximum number exist, performing fingerprint distance calculation on the AP with the same BSSID, and finding out the position of one record with the shortest distance as the initial position of the positioned pedestrian.
3. The indoor real-time three-dimensional positioning method according to claim 1, characterized in that: the pedestrian dynamic position tracking based on inertial navigation specifically comprises the following steps:
step 2-1, acquiring acceleration data of walking of the pedestrian according to an accelerometer built in the intelligent device in the walking process of the pedestrian, judging whether the pedestrian walks by one step or not according to the acceleration data, and if so, turning to step 2-2;
step 2-2, finishing pedestrian step length estimation in the step according to the characteristics of different pedestrians;
step 2-3, acquiring a heading angle of each step of the pedestrian through a direction sensor arranged in the intelligent equipment;
and 2-4, calculating the position of each step of the pedestrian according to the initial position of the pedestrian and the step length and the heading angle of each step of the pedestrian, thereby completing the two-dimensional position tracking of the pedestrian.
4. The indoor real-time three-dimensional positioning method according to claim 1, characterized in that: the step of floor determination based on inertial navigation and barometer specifically comprises the following steps:
step 4-5, the initial floor of the pedestrian can be positioned when the Wi-Fi is initially positioned, and in the step, the step number stepNum for checking the air pressure change is determined according to the level number of stairs of an indoor venue;
step 4-6, judging whether the pedestrian walks one step or not according to inertial navigation, checking the difference between the air pressure value obtained by the built-in barometer of the intelligent equipment after the step of the stepNum and the air pressure value before the step of the stepNum every step of the stepNum, checking whether the absolute value of the difference is within the range of a threshold value or not, if so, turning to the step 4-7, otherwise, repeating the step;
and 4-7, further judging whether the difference is a positive value or a negative value, if the difference is positive, subtracting 1 from the floor, if the difference is negative, adding 1 to the floor, and turning to the step 4-6 until the positioning is finished.
5. The indoor real-time three-dimensional positioning method according to claim 2, characterized in that: in the steps 1-5, the formula of the fingerprint distance calculation is as follows:
Figure FDA0002743320910000041
wherein D isjRepresenting the jth finger in a fingerprint libraryFingerprint distances between the fingerprints and RSSI values of n Wi-Fi signal sources currently received by the position to be positioned; r isiThe RSSI value of the ith Wi-Fi signal source detected at the current position is represented; f. ofjiThe RSSI value of the ith Wi-Fi signal source in the jth fingerprint of the fingerprint library is represented; q represents a distance selected in calculation, and when q is 1, DjExpressed is a fingerprint distance value calculated by using a Manhattan distance, and when q is 2, DjThe fingerprint distance value calculated by using the euclidean distance is shown, and in general, the euclidean distance is calculated by taking q equal to 2.
6. The indoor real-time three-dimensional positioning method according to claim 3, characterized in that: in the step 2-4, the formula for calculating the position of each step of the pedestrian according to the initial position of the pedestrian and the step length and the heading angle of each step of the pedestrian is as follows:
Figure FDA0002743320910000042
wherein (x)0,y0) As the initial position of the pedestrian, SLiStep length of each step, theta, of the pedestrianiThe direction angle of the step of the pedestrian, and k is the current step number of the pedestrian.
7. The indoor real-time three-dimensional positioning method according to claim 4, characterized in that: in the step 4-5, the number of steps stepNum for checking the change of the air pressure is determined to be two times the number of steps plus four per step according to the number of steps of the stairs of the indoor venue.
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