CN110146073A - Personnel positioning method and apparatus based on earth magnetism - Google Patents
Personnel positioning method and apparatus based on earth magnetism Download PDFInfo
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- CN110146073A CN110146073A CN201910502698.XA CN201910502698A CN110146073A CN 110146073 A CN110146073 A CN 110146073A CN 201910502698 A CN201910502698 A CN 201910502698A CN 110146073 A CN110146073 A CN 110146073A
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- information
- personnel
- geomagnetism
- traveling process
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C21/20—Instruments for performing navigational calculations
Abstract
The embodiment of the present invention provides a kind of personnel positioning method and apparatus based on earth magnetism, belongs to information technology field.This method comprises: acquiring the Geomagnetism Information of multiple positions in personnel's traveling process；According to data matrix model and the Geomagnetism Information of multiple positions collected, the location information of the personnel is determined, wherein the data matrix model includes the corresponding relationship of Geomagnetism Information and location information.The positioning of the personnel positioning method and apparatus based on earth magnetism is convenient, accurate and at low cost.
Description
Technical field
The present invention relates to information technologies, more particularly to the personnel positioning method and apparatus based on earth magnetism.
Background technique
Inspection work is one of core work of power generation, for ensureing safe operation and the hidden trouble of equipment of production scene
Timely discovery.In order to ensure effective progress of power generation inspection, routing inspection efficiency is further increased, guarantees inspection quality, hair
Locating scheme, which can be used, in exhibition power industry intelligent patrol detection scheme mainly following four:
Scheme one: neighbour's positioning mode.Think that receiver is generally in signal source position and carries out extensive style positioning, technology
Type has Wifi, bluetooth, Zigbee, RFID etc..
Scheme two: arrival time (TOA), reaching time-difference (TDOA) positioning mode.The program is issued by multiple signal sources
Time of the signal to receiver, the distance of calculating signal source to receiver, or reception is issued a signal to according to multiple signal sources
Machine time difference corresponding a plurality of hyperbolic focus estimates the position of receiver, by founding mathematical models, calculates and personnel institute
Signal distance relation derivation personnel's physical location between the terminal of wearing.Technology is represented as ultra wide band (UWB) and small base station
Location technology.
Scheme three: fingerprint technique positioning.By the way that the signal characteristic received is received signal with the different location collected in advance
Feature compares, and the technology of representative has Wifi positioning, Magnetic oriented, vision positioning, laser positioning etc..
Scheme four: integration method.Forward travel distance and direction are calculated by gyroscope, accelerometer integral.The program is with inertial navigation skill
Art is representative.
But it is low adjacent to method positioning accuracy, coverage area is small, and deployment maintenance is at high cost；And arrival time, method was due to hardware
Equipment is expensive, easy to damage, and cost of manufacture is high, and maintenance cost is high, needs additionally to arrange a large amount of cable at the scene；Fingerprint technique essence
Degree is high and low to receiving device requirement, but needs preparatory acquisition characteristics point and regular update fingerprint；Integration method is without receiving
Machine, but relative positioning, error can be with accumulated times.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of personnel positioning method and apparatus based on earth magnetism are provided, it should be based on earth magnetism
The positioning of personnel positioning method and apparatus is convenient, accurate and at low cost.
To achieve the goals above, the embodiment of the present invention provides a kind of personnel positioning method based on earth magnetism, this method packet
It includes: acquiring the Geomagnetism Information of multiple positions in personnel's traveling process；According to data matrix model and collected multiple
The Geomagnetism Information of position determines the location information of the personnel, wherein the data matrix model includes Geomagnetism Information and position
The corresponding relationship of information.
Preferably, the data matrix model obtains in the following manner: the earth magnetism letter of each position in acquisition localization region
Breath；The Geomagnetism Information of each position in the localization region is corresponding with the location information of each position of the localization region, it obtains
The data matrix model.
Preferably, this method further include: detect the steering angle information and displacement information in personnel's traveling process；It is adopting
Collect the Geomagnetism Information of multiple positions in personnel's traveling process and detect steering angle information in personnel's traveling process and
After displacement information, according to the data matrix model, steering angle information detected and displacement information and collected more
The Geomagnetism Information of a position determines the location information of the personnel.
Preferably, this method further include: detect the start position information in personnel's traveling process；Acquiring the people
In member's traveling process the Geomagnetism Information of multiple positions, the steering angle information in detection personnel's traveling process and displacement information with
And after the start position information in detection personnel's traveling process, according to the data matrix model, the initial position
Information, steering angle information detected and displacement information and the Geomagnetism Information of multiple positions collected, determine the personnel
Location information.
Preferably, the location information of the personnel is calculated by Monte-Carlo particle filtering algorithm.
The present invention also provides a kind of personnel positioning apparatus based on earth magnetism, which includes: that acquisition unit and processing are single
Member, wherein the acquisition unit is used to acquire the Geomagnetism Information of multiple positions in personnel's traveling process；The processing unit
For the Geomagnetism Information according to data matrix model and multiple positions collected, the location information of the personnel is determined,
Described in data matrix model include Geomagnetism Information and location information corresponding relationship.
Preferably, the data matrix model obtains in the following manner: the earth magnetism letter of each position in acquisition localization region
Breath；The Geomagnetism Information of each position in the localization region is corresponding with the location information of each position of the localization region, it obtains
The data matrix model.
Preferably, the acquisition unit is also used to detect steering angle information and displacement letter in personnel's traveling process
Breath；The processing unit is also used to the Geomagnetism Information of multiple positions in acquiring personnel's traveling process and detects the personnel
After steering angle information and displacement information in traveling process, according to the data matrix model, steering angle information detected
With the Geomagnetism Information of displacement information and multiple positions collected, the location information of the personnel is determined.
Preferably, the acquisition unit is also used to detect the start position information in personnel's traveling process；The place
Reason unit is also used to the Geomagnetism Information of multiple positions in acquiring personnel's traveling process, detects in personnel's traveling process
The start position information turned in angle information and displacement information and detection personnel's traveling process after, according to the number
According to matrix model, the start position information, steering angle information detected and displacement information and multiple positions collected
Geomagnetism Information, determine the location information of the personnel.
Preferably, the location information of the personnel is calculated by Monte-Carlo particle filtering algorithm.
Through the above technical solutions, the Geomagnetism Information of multiple positions in personnel's traveling process is acquired, then according to number
According to matrix model and the Geomagnetism Information of multiple positions collected, the location information of the personnel is determined.This is based on earth magnetism
The positioning of personnel positioning method and apparatus is convenient, accurate and at low cost.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the flow chart for the personnel positioning method based on earth magnetism that one embodiment of the invention provides；
Fig. 2 is the flow chart of the determination method for the data matrix model that one embodiment of the invention provides；
Fig. 3 be another embodiment of the present invention provides the personnel positioning method based on earth magnetism flow chart；
Fig. 4 be another embodiment of the present invention provides the personnel positioning method based on earth magnetism flow chart；
Fig. 5 is the structural schematic diagram of the personnel positioning apparatus provided by the invention based on earth magnetism.
Description of symbols
1 acquisition unit, 2 processing unit.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1 is the flow chart for the personnel positioning method based on earth magnetism that one embodiment of the invention provides.As shown in Figure 1, should
Method includes:
Step S11 acquires the Geomagnetism Information of multiple positions in personnel's traveling process；
Step S12 determines the personnel's according to data matrix model and the Geomagnetism Information of multiple positions collected
Location information, wherein the data matrix model includes the corresponding relationship of Geomagnetism Information and location information.
The personnel for wearing earth magnetism reader terminal acquire the Geomagnetism Information of position, and the Geomagnetism Information is in a certain range
Have uniqueness, but since localization region (such as power plant, chemical workshop and mine etc.) may be larger, it is possible to it will appear
Similar Geomagnetism Information point, therefore want accurately to determine that the position in which range, can acquire more in personnel's traveling process
The Geomagnetism Information of a position, continuous Geomagnetism Information a succession of in this way are uniquely, so as to be extrapolated by convergence algorithm
The location information of personnel can also confirm that the travel track of personnel.
If localization region is power generation scene, it is dispersed with miscellaneous rotary electric machine, motor is produced in rotation
Raw electromagnetic wave can impact live Distribution of Magnetic Field.Therefore the embodiment of the present invention can also pass through the magnetic field frequency of rotary electric machine
The rate principle different from the frequency in earth magnetic field will with filter algorithm when acquiring Geomagnetism Information, or when use Geomagnetism Information
The magnetic interference of motor is extractd, and then determines the location information of personnel again.
Fig. 2 is the flow chart of the determination method for the data matrix model that one embodiment of the invention provides.As shown in Fig. 2, institute
Data matrix model is stated to obtain in the following manner:
Step S21 acquires the Geomagnetism Information of each position in localization region；
Step S22, by the position of the Geomagnetism Information of each position in the localization region and each position of the localization region
Information is corresponding, obtains the data matrix model.
The embodiment of the present invention is utilized earth magnetic field and is unevenly distributed in complex industrial environment and stable characteristic.Pass through
Earth magnetism collector and infrared mapper can be while the practical cartographic models in drafting localization region, and precise acquisition is located at each
The Geomagnetism Information of point, and and map match, establish data matrix model.
Fig. 3 be another embodiment of the present invention provides the personnel positioning method based on earth magnetism flow chart.As shown in figure 3,
This method comprises:
Step S31 acquires the Geomagnetism Information of multiple positions in personnel's traveling process；
Step S32 detects steering angle information and displacement information in personnel's traveling process；
Step S33, the Geomagnetism Information of multiple positions and the detection personnel advance in acquiring personnel's traveling process
After steering angle information and displacement information in the process, according to the data matrix model, steering angle information detected and position
The Geomagnetism Information for moving information and multiple positions collected, determines the location information of the personnel.
In the present embodiment, step S31 and step S32 can while or successively be carried out, the present invention with random order
Without limitation.For example, by the inertia gyroscope angularly detection device with position, the steering angle of personnel's traveling process can detecte
Information and displacement information cooperate Geomagnetism Information, further to reduce data computer capacity, correct personnel positions.
Fig. 4 be another embodiment of the present invention provides the personnel positioning method based on earth magnetism flow chart.As shown in figure 4,
This method comprises:
Step S41 acquires the Geomagnetism Information of multiple positions in personnel's traveling process；
Step S42 detects steering angle information and displacement information in personnel's traveling process；
Step S43 detects the start position information in personnel's traveling process；
Step S44, the Geomagnetism Information of multiple positions, the detection personnel travel across in acquiring personnel's traveling process
After the start position information turned in angle information and displacement information and detection personnel's traveling process in journey, according to institute
State data matrix model, the start position information, steering angle information detected and displacement information and collected multiple
The Geomagnetism Information of position determines the location information of the personnel.
In the present embodiment, step S41, step S42 and step S43 can be simultaneously or first laggard with random order
Row, the present invention is without limitation.Before detecting start position information, personnel location information is the information detected by inertial navigation and ground
Magnetic information is calculated, algorithm with Monte-Carlo particle filtering algorithm (for restraining judgement personnel moving direction by similarity)
Operand is larger.In order to further reduce Geomagnetism Information search range, the present invention detects start position information, such as
Point location is assisted by bluetooth.Bluetooth auxiliary magnet need not install the front and back and portion for being excessively mostly installed at the door of localization region
Divide intermediate region.When personnel are without bluetooth auxiliary magnet, the above-mentioned method without using initial position can be taken to carry out
Positioning using the position of the bluetooth auxiliary magnet as initial position, and combines subsequent earth magnetism when personnel pass through bluetooth auxiliary magnet
Information, steering angle information and displacement information determine personnel location information and personnel track, and precision can achieve within one meter.?
This, the embodiment of the present invention realizes any initial position, the location Calculation of any direction.
The patrol officer for wearing positioning terminal after entering scene and the switch that opens a terminal, adopt by the earth magnetism in positioning terminal
The collected Geomagnetism Information of institute can be sent back in the form of data packet server by storage, and sending frequency is, for example, 2HZ.Server
According to the data packet received geomagnetic database carry out convergence algorithm find with the most similar signal in the position, and to database
It is stored in calculated personnel's trace information.If positioning terminal is exactly in the join domain of live bluetooth auxiliary magnet, can
Bluetooth IP is sent to server simultaneously.Server then reduces data search range according to IP, realizes positioning faster.
When patrol officer moves at the scene, inertia gyroscope then returns inertial navigation model to server in worn terminal,
It is further to reduce earth magnetism operand.In the case that terminal does not break again later, positioning method is based on inertial navigation, earth magnetism
The form of signal auxiliary carries out.
In addition, the invention includes the online patrol monitoring of a set of collection, inspection route note on the basis of personnel positioning is accurate
The multi-functional management softwares being integrated such as record, patrol task planning, patrol record inquiry and region of patrolling and examining management.Personnel enter
Region of patrolling and examining, patrol task execute automatically, and program technical ability realizes patrol monitoring, while can also promote routing inspection efficiency.According to end
It holds the algorithm of built-in inertia gyroscope to determine, when accident occurs for patrol officer, when falling down suddenly, identity algorithm can be formulated, it is logical
Know that administrative staff contact patrol officer and confirm actual conditions.When patrol officer has found that scene is abnormal, equipment can also be directly selected
Exception Type, while the position positioned according to system convey abnormal position, more fast and accurately report exception, improve and lack
It falls into and restores efficiency.Finally, the history inspection data bank established by the system, what administrative staff can be convenient is transferred each time
Patrol record, understand the executive condition of patrol task, patrol officer can also be understood oneself and be patrolled by the feedback of patrol record
Whether inspection task is comprehensive in place, it is ensured that patrol task improves the safety of power generation without dead angle.
Cruising inspection system can push the emphasis inspection information of current region according to personnel position to patrol officer, simultaneously
Briefing can also be pushed to patrol officer according to the patrol plan made in advance.When patrol officer falls down or falls down to the ground not
When dynamic, terminal carries out event judgement according to typical model, and sends warning message to administrator's layer, prompt administrative staff in time with
Doubtful the wounded is got in touch, it is ensured that patrol officer's personal safety.When patrol officer enters the danger zone realized and planned
When, system can be sounded an alarm to patrol officer, while administrative staff Off Limits someone being notified to enter, and further strengthen safe
Control.
In addition to needing the case where specific region is filled in a form or the case where receiving warning message, patrol officer only needs to beat
Opening mobile terminal can be transmitted to itself movement track record in server, without frequently checking mobile terminal.Appoint in inspection
After business terminates, mobile terminal can be fed back the deadline of this inspection to patrol officer, completeness, the contents such as missing term.
The operations such as patrol officer can carry out information amended record according to the actual situation or missed point reviews.
Administrative staff can carry out inspection On-line monitor, patrolled and examined track playback, patrol task peace after opening the end management level PC
Row, the live operation such as risk zontation and patrol task alarm setting.Patrol task each time all will be with the shape of entry
Formula is recorded in inspection archives, by the way that managing data algorithm is arranged, can be covered with programming count monitoring time live daily, inspection
The information such as lid rate and patrol task executive condition.Meanwhile administrative staff can also by call any terminal patrol record,
The patrolled and examined track for checking any time period, judges whether inspection work provides correctly to execute according to company management.
The present invention sufficiently analyzes that there are four asking of being exposed of scheme for the purpose of improving production scene routing inspection efficiency
Topic, novelty add inertial navigation technology to create a set of completely new power generation inspection scheme using map, earth magnetism, improve inspection
The stability of process, strengthens inspection management, reduces scene interference, reduces project cost support staff's positioning, improves inspection effect
Rate.Simultaneously also according to power generation actual conditions, earth magnetism inertial navigation technique is improved, solves earth magnetism inertial navigation technique in existing information
Under technical conditions, initial position calculates slow, and it is difficult to restore after breakpoint, and the stability difference etc. when network non-fully covers is asked
Topic.
Fig. 5 is the structural schematic diagram of the personnel positioning apparatus provided by the invention based on earth magnetism.As shown in figure 5, the device
It include: acquisition unit 1 and processing unit 2, wherein the acquisition unit 1 is multiple in personnel's traveling process for acquiring
The Geomagnetism Information of position；The processing unit 2 is used to be believed according to data matrix model and the earth magnetism of multiple positions collected
Breath, determines the location information of the personnel, closes wherein the data matrix model includes that Geomagnetism Information is corresponding with location information
System.
Preferably, the data matrix model obtains in the following manner: the earth magnetism letter of each position in acquisition localization region
Breath；The Geomagnetism Information of each position in the localization region is corresponding with the location information of each position of the localization region, it obtains
The data matrix model.
Preferably, the acquisition unit 1 is also used to detect steering angle information and displacement letter in personnel's traveling process
Breath；The processing unit 2 is also used to the Geomagnetism Information of multiple positions in acquiring personnel's traveling process and detects the people
After steering angle information and displacement information in member's traveling process, believed according to the data matrix model, steering angle detected
Breath and displacement information and the Geomagnetism Information of multiple positions collected, determine the location information of the personnel.
Preferably, the acquisition unit 1 is also used to detect the start position information in personnel's traveling process；The place
Reason unit 2 is also used to the Geomagnetism Information of multiple positions, detection personnel's traveling process in acquiring personnel's traveling process
In the start position information turned in angle information and displacement information and detection personnel's traveling process after, according to described
Data matrix model, the start position information, steering angle information detected and displacement information and multiple positions collected
The Geomagnetism Information set determines the location information of the personnel.
Preferably, the location information of the personnel is calculated by Monte-Carlo particle filtering algorithm.
The embodiment of the above-mentioned personnel positioning apparatus based on earth magnetism and the personnel positioning method described above based on earth magnetism
Embodiment it is similar, details are not described herein.
Through the above technical solutions, the Geomagnetism Information of multiple positions in personnel's traveling process is acquired, then according to number
According to matrix model and the Geomagnetism Information of multiple positions collected, the location information of the personnel is determined.This is based on earth magnetism
The positioning of personnel positioning method and apparatus is convenient, accurate and at low cost.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of personnel positioning method based on earth magnetism, which is characterized in that this method comprises:
Acquire the Geomagnetism Information of multiple positions in personnel's traveling process；
According to data matrix model and the Geomagnetism Information of multiple positions collected, the location information of the personnel is determined,
Described in data matrix model include Geomagnetism Information and location information corresponding relationship.
2. the personnel positioning method according to claim 1 based on earth magnetism, which is characterized in that the data matrix model is logical
Following manner is crossed to obtain:
Acquire the Geomagnetism Information of each position in localization region；
The Geomagnetism Information of each position in the localization region is corresponding with the location information of each position of the localization region, it obtains
The data matrix model.
3. the personnel positioning method according to claim 1 based on earth magnetism, which is characterized in that this method further include:
Detect the steering angle information and displacement information in personnel's traveling process；
Steering in acquiring personnel's traveling process in the Geomagnetism Information of multiple positions and detection personnel's traveling process
After angle information and displacement information, according to the data matrix model, steering angle information detected and displacement information and institute
The Geomagnetism Information of multiple positions of acquisition, determines the location information of the personnel.
4. the personnel positioning method according to claim 3 based on earth magnetism, which is characterized in that this method further include:
Detect the start position information in personnel's traveling process；
The Geomagnetism Information of multiple positions, the steering angle in detection personnel's traveling process in acquiring personnel's traveling process
After start position information in information and displacement information and detection personnel's traveling process, according to the data matrix mould
Type, the start position information, steering angle information detected and displacement information and the earth magnetism of multiple positions collected letter
Breath, determines the location information of the personnel.
5. the personnel positioning method according to claim 4 based on earth magnetism, which is characterized in that the location information of the personnel
It is calculated by Monte-Carlo particle filtering algorithm.
6. a kind of personnel positioning apparatus based on earth magnetism, which is characterized in that the device includes:
Acquisition unit and processing unit, wherein
The acquisition unit is used to acquire the Geomagnetism Information of multiple positions in personnel's traveling process；
The processing unit is used for the Geomagnetism Information according to data matrix model and multiple positions collected, determines the people
The location information of member, wherein the data matrix model includes the corresponding relationship of Geomagnetism Information and location information.
7. the personnel positioning apparatus according to claim 6 based on earth magnetism, which is characterized in that the data matrix model is logical
Following manner is crossed to obtain:
Acquire the Geomagnetism Information of each position in localization region；
The Geomagnetism Information of each position in the localization region is corresponding with the location information of each position of the localization region, it obtains
The data matrix model.
8. the personnel positioning apparatus according to claim 6 based on earth magnetism, which is characterized in that
The acquisition unit is also used to detect steering angle information and displacement information in personnel's traveling process；
The processing unit is also used to the Geomagnetism Information of multiple positions in acquiring personnel's traveling process and detects the people
After steering angle information and displacement information in member's traveling process, believed according to the data matrix model, steering angle detected
Breath and displacement information and the Geomagnetism Information of multiple positions collected, determine the location information of the personnel.
9. the personnel positioning apparatus according to claim 8 based on earth magnetism, which is characterized in that
The acquisition unit is also used to detect the start position information in personnel's traveling process；
The processing unit is also used to the Geomagnetism Information of multiple positions, the detection personnel in acquiring personnel's traveling process
After the start position information turned in angle information and displacement information and detection personnel's traveling process in traveling process,
According to the data matrix model, the start position information, steering angle information detected and displacement information and acquired
Multiple positions Geomagnetism Information, determine the location information of the personnel.
10. the personnel positioning apparatus according to claim 9 based on earth magnetism, which is characterized in that believe the position of the personnel
Breath is calculated by Monte-Carlo particle filtering algorithm.
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Application publication date: 20190820 |