CN110285809A - A kind of integrated integrated positioning device of indoor and outdoor - Google Patents
A kind of integrated integrated positioning device of indoor and outdoor Download PDFInfo
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- CN110285809A CN110285809A CN201910636009.4A CN201910636009A CN110285809A CN 110285809 A CN110285809 A CN 110285809A CN 201910636009 A CN201910636009 A CN 201910636009A CN 110285809 A CN110285809 A CN 110285809A
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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
-
- 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
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The present invention relates to a kind of integrated integrated positioning devices of indoor and outdoor, belong to field of locating technology, solve the problems, such as to provide the location information service of full airspace covering for personnel, device includes data acquisition module, integrated positioning module；Data acquisition module is for acquiring magnetic field data, angular velocity data, acceleration information, wireless signal data, pressure altitude data magnetic field and satellite navigation data；Integrated positioning module is connect with the data acquisition module, receive the data of the data collecting module collected, judge whether current location condition is in indoor, it is, then based on particle filter frame fusion inertial navigation positioning, magnetic field matching positioning, wireless location, barometric leveling and ground constraint diagram, the positioning calculation of personnel is carried out；It is no, then the positioning calculation of personnel is carried out using the combined positioning method including satellite positioning.The present invention can provide the location information service of full airspace covering for personnel, for scenes such as emergency relief, safety management, location navigations.
Description
Technical field
The present invention relates to field of locating technology, especially a kind of integrated integrated positioning device of indoor and outdoor.
Background technique
Location technology, which refers to, is integrated to form a set of position by multiple technologies such as wireless telecommunications, base station location, inertial navigation positioning
Locating system, thus for industries such as military commanding, aerospace, communications and transportation, meteorology, trip, emergency management and rescue, security monitorings
Using offer location-based service.
With mobile communication, the development of wireless sensor network, location technology has gradually stepped into the completely new stage.With GPS,
Satellite positioning navigation technology based on Beidou has obtained extensively and mature application in outdoor, but indoors, underground, hole
The satellite-signals such as cave, urban streets and lanes, mountainous region jungle can not cover or the application of serious shielding, using limited.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of integrated integrated positioning device of indoor and outdoor, mentions for personnel
For the location information service of full airspace covering.
The purpose of the present invention is mainly achieved through the following technical solutions:
The invention discloses a kind of integrated integrated positioning devices of indoor and outdoor, including, data acquisition module, integrated positioning
Module；
The data acquisition module for acquire magnetic field data, angular velocity data, acceleration information, wireless signal data,
Pressure altitude data and satellite navigation data；
The integrated positioning module is connect with the data acquisition module, receives the number of the data collecting module collected
According to, judge whether current location condition is in indoor, is, then it is fixed based on particle filter frame fusion inertial navigation positioning, magnetic field matching
Position, wireless location, barometric leveling and ground constraint diagram, carry out the positioning calculation of personnel；It is no, then using including satellite positioning
The positioning calculation of combined positioning method progress personnel.
Further, the data acquisition module includes magnetic sensor module, IMU module, wireless signal acquiring module, gas
Pressure sensor module and satellite positioning module；
The magnetic sensor module includes three number of axle word Magnetic Sensors, for measure simultaneously output positioning device present position
Three axis component data of magnetic field；
The MINS sensor of the IMU module integrated tri-axial acceleration meter and three-axis gyroscope, for measuring and exporting packet
Include the inertial guidance data of 3-axis acceleration and three axis angular rates；
Wireless signal acquiring module, for acquiring the wireless signal data of wireless base station transmitting；
The gas pressure sensor module, for the atmospheric pressure of measurement and positioning device present position, the high degree of output pressure
According to；
The satellite positioning module carries out satellite positioning, output satellite location data for receiving navigation satellite data.
Further, the integrated positioning module includes positioning filter module, and the positioning filter module includes indoor and outdoor
Discrimination module, indoor positioning filter module and outdoor positioning filter module；
The indoor and outdoor discrimination module judges that the integrated positioning device is located at indoor or outdoors according to the condition of setting；
The indoor positioning filter module, according to the inertial guidance data of data acquisition module output, magnetic field data, wireless
Signal data and air pressure altitude information carry out positioning calculation using the fusion and positioning method based on particle filter frame；
The outdoor positioning filter module carries out positioning calculation using the combined positioning method including satellite positioning.
Further, the indoor and outdoor discrimination module is connect with satellite positioning module and wireless signal acquiring module；According to
The navigation satellite signal intensity of satellite positioning module acquisition or the MAC Address that wireless base station is acquired by wireless signal acquiring module
Data judge indoor or outdoors.
Further, the integrated positioning module further includes sensor parameters memory module, Data correction module, magnetic disturbance
Data identification and separation module and pedestrian's dead-reckoning module；
The sensor parameters memory module, for storing the initial parameter of magnetic sensor module and IMU module；
The Data correction module, it is defeated to the magnetic sensor module for the initial parameter according to magnetic sensor module
Magnetic field data out is corrected；According to the initial parameter of IMU module, to the 3-axis acceleration and three shaft angles of the output of IMU module
Speed data is corrected；
The magnetic disturbance data identification and separation module, for the magnetic field data after correction to be carried out disturbance ecology and divided
From the magnetic field data after separation is interfered in output；And the magnetic field data after interference separation is output to the indoor positioning and filters mould
Block；
Pedestrian's dead-reckoning module, for according to after correction 3-axis acceleration and three axis angular rate data gone
People's dead reckoning exports step-length, course and the location information of personnel；And zero-speed is detected, estimate current gyro zero bias, amendment
The gyroscope zero bias of the sensor parameters memory module storage.
Further, the indoor positioning filter module includes first matching module and locating and tracking module；
The head matching module, for generating and being set to center to position key point by wireless location and barometric leveling
First matching particle collection；By pedestrian's dead reckoning and the matched positioning fusion method in magnetic field, particle weights are updated, until obtaining
Meet the particle of convergence conditions, then judge first successful match, exports first matching positioning result；
The locating and tracking module, for generating first time locating and tracking particle collection according to first matching positioning result；Pass through
Pedestrian's dead reckoning and the matched positioning fusion method in magnetic field, carry out particle weights update, and output tracking positioning result works as judgement
Particle meets convergence conditions, updates last locating and tracking particle collection, repeats above-mentioned locating and tracking process, lasting output with
Track positioning result.
Further, the first matching process in the first matching module includes,
1) it generates to position the first matching particle collection that key point is set to center, the first setting range of covering；
The flat of the transmitting base station of wireless signal data is received when matching headed by the plan-position data of the positioning key point
Face position data；The altitude information of the positioning key point is the pressure altitude data of measurement；
It includes three-dimensional position, course and weight that the first matching particle, which concentrates the information of each particle,；
2) magnetic field is carried out to match to obtain the correlation of each particle；
According to pedestrian's dead reckoning as a result, extracting the magnetic field acquisition data of setting length as the first magnetic field data, in conjunction with
The particle information that head matching particle is concentrated obtains the magnetic field data in the corresponding magnetic chart of magnetic field acquisition data as the second magnetic field
Data calculate the matching correlation of the first, second magnetic field data, the correlation as each particle by magnetic field matching algorithm；
3) particle weights update；
By the multiplied by weight of the correlation of the particle and current particle, the newest weight information of particle is obtained；
4) particle criteria for convergence
According to the three-dimensional position of each particle and newest weight information, the aggregation extent of current particle position is calculated, if
Particle buildup degree is more than given threshold, then determines to restrain, and exports first matching positioning result；Otherwise, it returns and 2) extracts magnetic again
Field acquisition data, calculate particle correlation.
Further, the particle position aggregation extent:
In formula: N is number of particles；Pxi, Pyi, PziFor the corresponding three-dimensional position of i-th of particle；
wiFor the corresponding weight of i-th of particle；
When particle convergence, first matched positioning result is (Cx, Cy, Cz)。
Further, in the locating and tracking module, first time locating and tracking particle collection is to be with head matching positioning result
Center covers the particle collection of the second setting range；
The update of locating and tracking particle weights obtains corresponding weight using update method identical with head matching first,
Inverse multiplied by each particle apart from current wireless base station distance obtains the newest weight of current particle；It constrains according to the map
Condition, if it is determined that current particle position be pedestrian can not in-position, then the weight of the particle is set as 0.
Further, in pedestrian's dead-reckoning module, according to formulaIn formula, Var is variance；Acc is
Resultant acceleration, throld1_acc are resultant acceleration threshold value；Acc_max is the maximum value for setting resultant acceleration in the period；Acc_
Min is the minimum value for setting resultant acceleration in the period；Throld2_acc: for resultant acceleration peak-to-peak value threshold value in the setting period.
According toFs is MEMS module in formula
Frequency acquisition；Fs_step is the duration lasting when back.
The present invention has the beneficial effect that:
The present invention can provide the location information service of full airspace covering for personnel, be used for emergency relief, safety management, positioning
The scenes such as navigation.This method great advantage be hardware deployment less, maintenance is simple, can differentiate floor, not vulnerable to blocking and interfere；
Simultaneously by the improvement to whole positioning architecture, the stability of Magnetic oriented is improved, ensures that the indoor locating system
Robustness and adaptability to most application scenarios.
And three number of axle word Magnetic Sensors that the present invention uses, high sensitivity, noise is low, and zero point stability speed is fast, circuit
Simply, small in size, guarantee to effectively reduce cost while measurement accuracy；Using wireless location, positioning device is realized to multiple
The identification of key position point under miscellaneous scene；With baroceptor, floor can be effectively differentiated；It is navigated using GPS/ Beidou dual mode satellite
Module realizes indoor and outdoor integration seamless navigation；It supports edge side real-time resolving, can effectively reduce bandwidth demand, improve real
When property and user experience.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the integrated integrated positioning principle of device schematic diagram of indoor and outdoor in the embodiment of the present invention.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
Present embodiment discloses a kind of integrated integrated positioning devices of indoor and outdoor, as shown in Figure 1, including data acquisition
Module, integrated positioning module；
The data acquisition module for acquire magnetic field data, angular velocity data, acceleration information, wireless signal data,
Pressure altitude data and satellite navigation data；
The integrated positioning module is connect with the data acquisition module, receives the number of the data collecting module collected
According to judging whether current location condition is in indoor, be, be then based on particle filter frame fusion inertial navigation positioning, Magnetic oriented, nothing
Line positioning, barometric leveling and ground constraint diagram, carry out the positioning calculation of personnel；It is no, then using the combination including satellite positioning
The positioning calculation of localization method progress personnel.
Specifically, the data acquisition module includes magnetic sensor module, IMU (Inertial measurement
Unit, Inertial Measurement Unit) module, wireless signal acquiring module, gas pressure sensor module and satellite positioning module；
The magnetic sensor module includes three number of axle word Magnetic Sensors, for measure simultaneously output positioning device present position
Three axis component data of magnetic field；Built-in temperature compensation circuit, has self-test function, using LGA package form, volume be 3mm ×
3mm × 1mm is conducive to Miniaturization Design.Chip supports I2C output interface, and rate, can directly and signal processing up to 400KHz
Device connection；Digital output frequency (ODR) is 6.6LSB/uT@± 500uT up to 200Hz, sensitivity representative value, and zero bias are with temperature
Variation representative value is 0.027uT/ ° of K, has extremely low noise and outstanding temperature drift characteristic, is suitble to miniaturization, low cost, low function
Consumption and high precision design.
The IMU module uses MEMS (Microelectro Mechanical Systems, MEMS), integrates
MINS (Micro-Inertial- Navigation System, the micro-inertial navigation system of three axis accelerometer and three-axis gyroscope
System) sensor, for measuring the 3-axis acceleration and three axis angular rate data of simultaneously output positioning device；Chip volume is 2.5mm
The mm of × 3mm × 0.83, power consumption is 290uW 1.8V/ODR=52Hz, and under power-down mode, power consumption can be incited somebody to action down to 3uA
Acceleration and angular speed information exports in a digital manner, can directly connect with signal processor, suitable to minimize, is inexpensive, low
Power dissipation design.Reachable ± the 16g of accelerometer range (g is acceleration of gravity), gyroscope range are ± 2000dps (degree per second)；
Accelerometer response is 0.122mg/LSB@± 4g, 8.75mdps/LSB@± 245dps；Accelerometer bias is ± 40mg,
Gyroscope zero bias are ± 3dps；Accelerometer noise 90ug/sqrt (Hz)@± 8g, gyroscope noise are 3.8mdps/sqrt
(Hz)；The data output rate (ODR) of accelerometer and gyroscope reaches as high as 6.6KHz.
Wireless signal acquiring module, for acquiring the wireless signal of wireless base station transmitting, the laying position of the wireless base station
It sets, number, MAC Address is to preset；Wireless base station setting and key point position, navigate for auxiliary locator.Wirelessly
Signal acquisition module can be made of bluetooth or other types wireless signal acquiring circuit, and Bluetooth base. station or radio frequency identification need to be cooperated to set
It is standby to use.Bluetooth uses open frequency range, and carrier frequency 2.4GHz supports V4.2 full standard, includes conventional Bluetooth (BR/EDR)
With low-power consumption bluetooth (BLE).Support standard Class-1, Class-2 and Class-3, and it is not necessarily to external power amplifier, have
The accurate power control reinforced, output power are up to+12dBm, and receiver has the BLE receiving sensitivity of -97dBm, adaptively
Frequency hopping (AFH) can support all BLE based on GATT to apply.The bluetooth of positioning device receives the broadcast of Bluetooth base. station, to know
The location of other positioning device needs rationally to be arranged the broadcast frequency of Bluetooth base. station to improve the accuracy of key point identification
Rate and power.
Other than bluetooth, it also can be used RFID tag (up to GHz rank), low-frequency wireless identification (down to KHz grades
The technologies such as not).
The gas pressure sensor module, for the atmospheric pressure of measurement and positioning device present position, the high degree of output pressure
According to；Baroceptor measurement range is 300hPa~1250hPa, relative accuracy under 25 DEG C~40 DEG C environment is ±
0.06hPa, the absolute precision at 0 DEG C~65 DEG C and under 300hPa~1100hPa are ± 0.5hPa, chip volume be 2mm ×
2mm×0.75mm.Pressure and temperature data can be stored in the built-in FIFO of 512 bytes, low in energy consumption during full operation
To 2.7uA/Hz.The sensor is suitable for smart phone, tablet computer and wearable device, it can be achieved that outdoor/indoor navigation
With the precision of positioning application program, for example, altitude information can determine the floor of user between floors, while outdoor can be improved
The accuracy of GPS.
The satellite positioning module carries out satellite positioning, output satellite for receiving navigation satellite data under outdoor environment
Location data；The information can be merged with information such as magnetic field, acceleration, angular speed, improve the precision of conventional satellite positioning.It is described to defend
Star locating module is a high-performance GPS/ Beidou bimodulus locating module.The module is compatible with 3.3V/5V embedded system, design side
Just.With 167 receiving channels, QZSS, WAAS, MSAS, EGNOS, GAGAN are supported；Positioning accuracy 2.5mCEP (SBAS:
2.0CEP), renewal rate 1/2/4/5/8/10/20Hz；Under hot start state, capture time 1s, acquisition and tracking sensitivity-
165dBm.Module compact, has excellent performance, and various parameters configuration can be carried out by serial ports, easy to use；Module is included to fill
Electric backup battery can keep almanac data with power down.
Specifically, the integrated positioning module includes sensor parameters memory module, Data correction module, magnetic disturbance data
Identification and separation module, pedestrian's dead reckoning (Pedestrian Dead Reckoning, PDR) module, database module and
Position filter module；
The sensor parameters memory module, for storing the initial parameter of Magnetic Sensor and IMU module；
The initial parameter of the IMU module includes: the zero bias ω of three axis of gyroscopex0, ωy0, ωz0, three axis of accelerometer
Zero bias ax0, ay0, az0, the scale factor error S of three axis of accelerometerx0, Sy0, Sz0, the cross-coupling factor of three axis of accelerometer
Mxy, Myz, Mzx；
The initial parameter of the magnetic sensor module includes: the zero bias b of three axis of Magnetic Sensorx, by, bzWith sensitivity sx, sy,
sz；When magnetic field, matching carries out match bit using scalar characterization, the zero bias b of three axis of Magnetic Sensor of storagex, by, bz, sensitivity
sx, sy, szWith non-orthogonal degree error ux, uy, uz。
The Data correction module, for the initial parameter according to Magnetic Sensor, to magnetic sensor module output
Magnetic field data is corrected；According to the initial parameter of IMU module, to the 3-axis acceleration and three axis angular rates of the output of IMU module
Data are corrected；
Specifically, being corrected method to 3-axis acceleration and three axis angular rate data are as follows:
By the zero bias ω of three axis of gyroscopex0, ωy0, ωz0With angular velocity measurement value ωx1, ωy1, ωz1Substitution formulaThe zero bias of gyro are corrected, the magnitude of angular velocity of three axis of gyroscope after being corrected is ωx2,
ωy2, ωz2；
By the initial parameter a of the accelerometerx0, ay0, az0With acceleration measurement ax1, ay1, az1Substitution formulaThe zero bias of accelerometer are corrected, adding after being corrected
The acceleration value of three axis of speedometer is ax2, ay2, az2, wherein Sx0, Sy0, Sz0For the scale factor error of three axis of accelerometer；
The cross-coupling factor M of three axis of accelerometeryx=Mxy；Mzy=Myz；Mxz=Mzx。
By improving subsequent inertial navigation positioning accuracy to gyroscope and accelerometer data correction.
The bearing calibration of magnetic field data are as follows:
When using vector matching, using formulaSensitivity to magnetic field sensor and zero
Point tolerance is corrected, the magRx1、magRy1、magRz1For the three-axle magnetic field after correction；
When using scalar matching, total field strength magRf=sqrt (magRx1 2+magRy1 2+magRz1 2)；Using formulaSensitivity and zero point equal error to magnetic field sensor are corrected, described
It is described
The magnetic disturbance data identification and separation module, for the magnetic field data after correction to be carried out disturbance ecology and divided
From the magnetic field data after separation is interfered in output.
By the way that the random disturbances magnetic field in environment is identified and is removed, it is ensured that the stability of magnetic signature.Utilize magnetic
Before field is positioned, need to carry out measurement obtained magnetic field data disturbance ecology with separate, it is dry in general application environment
It disturbs and is mainly derived from various electrical equipments, be mainly reflected in the step signal that some high-frequency signals and facility switching generate, needle
Identification and separation to these two types of signals, comprising the following steps:
1) median filtering is carried out to collected magnetic field data first, median filtering window is traditionally arranged to be adopting for 1~2s
Number of samples can effectively eliminate the High-frequency Interference of electrical equipment generation by median filtering, retain what electrical equipment switch generated
Step signal and environmental characteristic signal；
2) first-order difference is carried out to filtered data, so that step signal is highlighted by difference processing；
3) it is detected by the way that relevant threshold value is arranged, when being higher than the threshold value, it is believed that be step signal, according to warp
It tests, threshold value is set as+3 times of standard deviations of mean value of measurement data first-order difference in nearest 1s；
4) value obtained to detection is replaced with the mean value of measurement data first-order difference in 1s, and carries out integral reduction, is obtained
Magnetic field data after interference separation.
Pedestrian's dead-reckoning module, for according to after correction 3-axis acceleration and three axis angular rate data gone
People's dead reckoning exports step-length, course and the location information of personnel；Zero-speed is detected, estimates current gyro zero bias, corrects institute
State the gyroscope zero bias of sensor parameters memory module storage；
Specifically, pedestrian's dead reckoning method in pedestrian's dead-reckoning module includes:
1) Gait Recognition
The judgment criterion that pedestrian's row makes a move is shown below, and when meeting two formulas simultaneously, indicates that pedestrian takes a step forward.
In formula,
Var: variance is indicated；
Acc: resultant acceleration indicates in a certain period of time the root mean square of the acceleration information of (such as 0.5s)；
Throld1_acc: resultant acceleration threshold value is indicated；
Acc_max: the maximum value of resultant acceleration in some cycles is indicated；
Acc_min: the minimum value of resultant acceleration in some cycles is indicated；
Throld2_acc: resultant acceleration peak-to-peak value threshold value in some cycles is indicated.
2) step-size estimation
After detecting that pedestrian's row is further, it is based on formulaCarry out step size computation；In formula
Fs: the collection frequency of MEMS module is indicated；Fs_step: the duration lasting when back is indicated.
3) attitude algorithm
Specific step is as follows:
(1) initial value is assigned to the pitch angle of inertial guidance data, roll angle and course angleThe ax2,
ay2, az2For the acceleration initial value of three axis of accelerometer after correction, g is acceleration of gravity.
(2) dead reckoning is carried out.
Using quaternary number, it is based on previous quaternary numerical value, and currently measures obtained acceleration, angular velocity information meter
Current quaternary number is calculated, euler transformation matrix is obtained, finally based on upper group of acceleration, speed, position and current euler transformation
Matrix calculates current acceleration, speed and position.Specific steps include:
A. initial quaternary number is calculated according to initial attitude angle,
By the initial value of pitch angle, roll angle and course angleSubstitution formulaIt calculates
Spin matrix from carrier coordinate system to geographic coordinate system；
Initial quaternary number is calculated according to spin matrix is obtained:
B. the integral of angular speed in one cycle is calculated:Δ T is integral
Time；Calculate skew symmetric matrix:
C. current quaternary number Q=(Icos (φ/2)+sin (φ/2) [Θ]/φ) Q is obtained0, and the four of current time
First number is assigned to Q0, the I be 4 × 4 unit matrix；
D. the new spin matrix from carrier coordinate system to navigational coordinate system is calculated according to current quaternary number:
E. acceleration value under navigational coordinate system is updated:G is acceleration of gravity；
Update velocity amplitude under navigational coordinate system:Speed initial value is generally set to 0, and Δ T is between the time
Every；
In practical calculating process, if for a long time carry out dead reckoning, speed may diffuse to one it is very big
Numerical value does not meet actual conditions, is provided with a thresholding to speed here, after calculating obtained speed beyond the thresholding, adopts
The thresholding speed is used to be updated as actual speed；
Update positional value under navigational coordinate system:Position initial value
It is generally set to 0；
Update attitude angle of the carrier coordinate system relative to navigational coordinate system:
F. b~e is repeated, dead reckoning is persistently carried out.
4) boat position estimation
After pedestrian advances a step, after obtaining step-length and current course, current location is calculated according to following formula:
In formula, Pos_Xi-1, Pos_Yi-1The location of when for previous step；Pos_Xi, Pos_YiFor current location；Len_
Step is current step-length.
5) parameter Estimation
Here the parameter Estimation used is based primarily upon ZUPT algorithm, when the continuous data within five periods of three-axis gyroscope
It is very poor less than some close to 0 threshold value when, determine positioning terminal be in zero-speed state；If current positioning terminal is in zero-speed,
Estimate current gyro zero bias, attitude error based on Kalman filter, the sensor parameters memory module to posture and
Gyroscope zero bias are corrected.
The database module, for storing wireless base station information, the information of magnetic chart information and entrance etc.；It is described
Wireless base station information includes the position that indoor and outdoor wireless base station is set in localization region, number and mac address information；The magnetic
Field figure information is matrix element information corresponding with localization region grating map；In the localization region position that pedestrian can not reach,
Matrix element is 0；In the localization region position that pedestrian can reach, matrix element is the corresponding magnetic field data of the grid positions；
The entrance key point information includes the number and location information of the key points such as entrance in localization region；
The positioning filter module includes indoor and outdoor discrimination module, indoor positioning filter module and outdoor positioning filtering mould
Block；
The indoor and outdoor discrimination module judges that the integrated positioning device is located at indoor or outdoors according to the condition of setting；
The indoor positioning filter module, is positioned using the combined positioning method based on particle filter frame；
The outdoor positioning filter module, is positioned using the combined positioning method including satellite positioning.
Specifically, the indoor and outdoor discrimination module is connect with satellite positioning module and wireless signal acquiring module；According to defending
The navigation satellite signal intensity of star locating module acquisition or the MAC Address data of wireless signal acquiring module acquisition wireless base station are sentenced
Disconnected indoor or outdoors.
Preferably, according to the satellite positioning signal intensity of acquisition lower than given threshold or by judging wireless signal acquiring
The base station MAC address of module acquisition is the MAC Address of the indoor base station stored in database module, judges current location condition
For interior,
Equally, given threshold can also be higher than according to the satellite positioning signal intensity of acquisition or by judging that wireless signal is adopted
Integrate the base station MAC address of module acquisition as the MAC Address of the outdoor base station stored in database module, judges current positioning strip
Part is outdoor.
Specifically, the indoor positioning filter module includes first matching module and locating and tracking module；
The head matching module, for generating and being set to center to position key point by wireless location and barometric leveling
First matching particle collection；By pedestrian's dead reckoning and the matched positioning fusion method in magnetic field, particle weights are updated, until obtaining
Meet the particle of convergence conditions, then judge first successful match, exports first matching positioning result；
Specifically, the first matching process in the head matching module includes,
1) it generates to position the first matching particle collection that key point is set to center, the first setting range of covering；
The flat of the transmitting base station of wireless signal data is received when matching headed by the plan-position data of the positioning key point
Face position data；The altitude information of the positioning key point is the pressure altitude data of measurement；
In first fit positioning, the wireless signal receiver that pedestrian carries receives wireless signal, identifies wireless communication
The MAC Address of number transmitting base station is laid from the localization region stored in database module and is searched in wireless base station data with MAC
The plan position information of the corresponding wireless base station in location；The atmospheric pressure of present position is measured by the baroceptor that pedestrian carries
By force, output pressure altitude information；The altitude information can determine specific floor of the personnel in building.
It includes three-dimensional position, course and weight that the first matching particle, which concentrates the information of each particle,；
The particle concentrates the three-dimensional position of each particle centered on the three-dimensional position for positioning key point, with the distance of setting
It is configured, is covered in the first setting range for interval；The interval can be adjusted according to positioning accuracy；The first setting model
Enclosing can require to require empirically to be set with matching distance according to first matched matched data amount, such as with base station plane
Position is the center of circle, and radius is to carry out particle generation according to the grid interval 0.1m in the circle of 3m.
The navigation of each particle and weight use as default；
It is that particle cannot be in the barrier that pedestrian cannot reach it should be noted that also carrying out ground constraint diagram to the particle of generation
Hinder in object, i.e., when particle position is barrier, weight 0.
The position of the wireless base station is configured in laying, after personnel enter the room localization region, it will be able to connect
The signal of wireless base station transmitting is received, such as is arranged near the entry and exit of localization region indoors, personnel is made to pass through entry and exit
First matching can be carried out by entering the room localization region；
Specifically, the wireless signal can be one of bluetooth, RFID, wifi etc., but and it is limited to the above wireless signal.
2) magnetic field is carried out to match to obtain the correlation of each particle；
Specifically, carrying out the matched magnetic field in magnetic field is the first magnetic field data and the second magnetic field data；
First magnetic field data, according to pedestrian's dead reckoning as a result, extract setting length (such as: empirical value 5m)
The magnetic field data of the magnetic field sensor acquisition of personnel's portable；
The magnetic field data is that the magnetic field after the identification separation of corrected and magnetic disturbance data acquires data；
Pedestrian's dead reckoning result is that the inertial guidance data progress pedestrian's boat position acquired according to the inertial navigation of personnel's portable pushes away
Calculation obtains result；Including pedestrian's advanced positions, course and step information；Input data is by gyroscope and accelerometer data
Inertial guidance data after correction
Second magnetic field data is that, in conjunction with the particle information that first matching particle is concentrated, the magnetic field of acquisition acquires data pair
The magnetic field data in magnetic chart answered；
Specifically, matching related algorithm by mean square deviation algorithm (MSD) or cross correlation algorithm (COR) etc. calculates first, the
The matching correlation of two magnetic field datas, the correlation as each particle.
3) particle weights update；
By the multiplied by weight of the correlation of the particle and current particle, the newest weight information of particle is obtained；
4) particle criteria for convergence；
According to the three-dimensional position of each particle and newest weight information, the aggregation extent of current particle position is calculated, if
Particle buildup degree is more than given threshold, then determines to restrain, and exports first matching positioning result；Otherwise, it returns and 2) extracts magnetic again
Field acquisition data, calculate particle correlation.
Preferably, particle position aggregation extentFormula
In:N is the number of particles that particle is concentrated；Pxi, Pyi,
PziFor the corresponding three-dimensional position of i-th of particle；wiFor the corresponding weight of i-th of particle；
When particle convergence, first matched positioning result is (Cx, Cy, Cz)。
The locating and tracking module, for generating first time locating and tracking particle collection according to first matching positioning result；Pass through
Pedestrian's dead reckoning and the matched positioning fusion method in magnetic field, carry out particle weights update, and output tracking positioning result works as judgement
Particle meets convergence conditions, updates last locating and tracking particle collection, repeats above-mentioned locating and tracking process, lasting output with
Track positioning result.
Specifically, the positioning and tracing method in the locating and tracking module includes,
1) according to first matching positioning result, first time locating and tracking particle collection is generated；
Further, the locating and tracking primary collection is to match positioning result (C with headx, Cy, Cz) centered on, it covers
The particle collection of the second setting range of lid；
Second setting range can be required according to the matching primitives data volume of tracking and positioning and matched jamming required distance
Empirically set；
The information of the particle of locating and tracking particle collection matches particle with head and the information of particle is concentrated to be consistent.
2) magnetic field is carried out to match to obtain the correlation of each particle；
Used magnetic field matching process can be identical as first matched address matching method.
3) particle weights update, output tracking positioning result；
Specifically, in tracking and positioning step particle weights update, match identical update method using with head first and obtain
To corresponding weight, inverse multiplied by each particle apart from current wireless base station distance obtains the newest weight of current particle；
If according to magnetic field diagram data judge current particle position for pedestrian can not in-position, the weight of the particle is set as 0.
Exporting positioning result isM is locating and tracking
The number of particles that particle is concentrated；Pxi, Pyi, PziFor the corresponding three-dimensional position of i-th of particle； wiFor the corresponding power of i-th of particle
Weight.
The outdoor positioning filter module is worked as using conventional Kalman filtering mode by magnetic sensor module offer
Front direction, dead reckoning result and satellite positioning module output based on Kalman filter fusion pedestrian's dead-reckoning module
Satellite data provide position result, the continuous travel track of pedestrian is provided, in combination with gas pressure sensor module output gas
Altitude information is pressed, accurate three-dimensional position result is finally provided.
Preferably, the integrated positioning module of the present embodiment further includes wireless transport module, and for inciting somebody to action, treated positions number
According to being transferred to host computer.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of integrated integrated positioning device of indoor and outdoor, which is characterized in that including data acquisition module, integrated positioning mould
Block；
The data acquisition module is for acquiring magnetic field data, angular velocity data, acceleration information, wireless signal data, air pressure
Altitude information and satellite navigation data；
The integrated positioning module is connect with the data acquisition module, is received the data of the data collecting module collected, is sentenced
Whether the current location condition that breaks is in indoor, is, then based on particle filter frame fusion inertial navigation positioning, magnetic field matching positioning, nothing
Line positioning, barometric leveling and ground constraint diagram, carry out the positioning calculation of personnel；It is no, then using the combination including satellite positioning
The positioning calculation of localization method progress personnel.
2. integrated positioning device according to claim 1, which is characterized in that the data acquisition module includes Magnetic Sensor
Module, IMU module, wireless signal acquiring module, gas pressure sensor module and satellite positioning module；
The magnetic sensor module includes three number of axle word Magnetic Sensors, for measuring the magnetic field of simultaneously output positioning device present position
Three axis component data；
The MINS sensor of the IMU module integrated tri-axial acceleration meter and three-axis gyroscope, for measuring and exporting including three
The inertial guidance data of axle acceleration and three axis angular rates；
Wireless signal acquiring module, for acquiring the wireless signal data of wireless base station transmitting；
The gas pressure sensor module, for the atmospheric pressure of measurement and positioning device present position, output pressure altitude information；
The satellite positioning module carries out satellite positioning, output satellite location data for receiving navigation satellite data.
3. integrated positioning device according to claim 1, which is characterized in that the integrated positioning module includes positioning filtering
Module, the positioning filter module include indoor and outdoor discrimination module, indoor positioning filter module and outdoor positioning filter module；
The indoor and outdoor discrimination module judges that the integrated positioning device is located at indoor or outdoors according to the condition of setting；
The indoor positioning filter module, according to the inertial guidance data of data acquisition module output, magnetic field data, wireless signal
Data, pressure altitude data and magnetic field diagram data carry out positioning solution using the fusion and positioning method based on particle filter frame
It calculates；
The outdoor positioning filter module carries out positioning calculation using the combined positioning method including satellite positioning.
4. integrated positioning device according to claim 3, which is characterized in that the indoor and outdoor discrimination module and satellite positioning
Module is connected with wireless signal acquiring module；According to the navigation satellite signal intensity of satellite positioning module acquisition or pass through wireless communication
The MAC Address data of number acquisition module acquisition wireless base station judge indoor or outdoors.
5. integrated positioning device according to claim 3, which is characterized in that the integrated positioning module further includes sensor
Parameter memory module, Data correction module, the identification of magnetic disturbance data and separation module and pedestrian's dead-reckoning module；
The sensor parameters memory module, for storing the initial parameter of magnetic sensor module and IMU module；
The Data correction module, for the initial parameter according to magnetic sensor module, to magnetic sensor module output
Magnetic field data is corrected；According to the initial parameter of IMU module, to the 3-axis acceleration and three axis angular rates of the output of IMU module
Data are corrected；
Magnetic disturbance data identification and separation module, for the magnetic field data after correction carry out disturbance ecology with separate, it is defeated
Magnetic field data after interference separation out；And the magnetic field data after interference separation is output to the indoor positioning filter module；
Pedestrian's dead-reckoning module, for according to the 3-axis acceleration and three axis angular rate data progress pedestrian's boat after correction
Position calculates, exports step-length, course and the location information of personnel；And zero-speed is detected, current gyro zero bias are estimated, described in amendment
The gyroscope zero bias of sensor parameters memory module storage.
6. integrated positioning device according to claim 5, which is characterized in that the indoor positioning filter module includes first
With module and locating and tracking module；
The head matching module, for generating to position the head that key point is set to center by wireless location and barometric leveling
Match particle collection；By pedestrian's dead reckoning and the matched positioning fusion method in magnetic field, particle weights are updated, until being met
The particle of convergence conditions then judges first successful match, exports first matching positioning result；
The locating and tracking module, for generating first time locating and tracking particle collection according to first matching positioning result；Pass through pedestrian
Dead reckoning and the matched positioning fusion method in magnetic field, carry out particle weights update, output tracking positioning result, when judging particle
Meet convergence conditions, update last locating and tracking particle collection, repeat above-mentioned locating and tracking process, it is fixed to continue output tracking
Position result.
7. integrated positioning device according to claim 6, which is characterized in that the first matching process in the head matching module
Including,
1) it generates to position the first matching particle collection that key point is set to center, the first setting range of covering；
The plane position of the transmitting base station of wireless signal data is received when matching headed by the plan-position data of the positioning key point
Set data；The altitude information of the positioning key point is the pressure altitude data of measurement；
It includes three-dimensional position, course and weight that the first matching particle, which concentrates the information of each particle,；
2) magnetic field is carried out to match to obtain the correlation of each particle；
According to pedestrian's dead reckoning as a result, the magnetic field for extracting setting length acquires data as the first magnetic field data, in conjunction with first
With the particle information that particle is concentrated, the magnetic field data in the corresponding magnetic chart of magnetic field acquisition data is obtained as the second magnetic field number
According to calculating the matching correlation of the first, second magnetic field data, correlation as each particle by magnetic field matching algorithm；
3) particle weights update；
By the multiplied by weight of the correlation of the particle and current particle, the newest weight information of particle is obtained；
4) particle criteria for convergence
According to the three-dimensional position of each particle and newest weight information, the aggregation extent of current particle position is calculated, if particle
Aggregation extent is more than given threshold, then determines to restrain, and exports first matching positioning result；Otherwise, 2) return is extracted magnetic field again and is adopted
Collect data, calculates particle correlation.
8. integrated positioning device according to claim 7, which is characterized in that the particle position aggregation extent:
In formula: N is number of particles；Pxi, Pyi, PziFor the corresponding three-dimensional position of i-th of particle；
wiFor the corresponding weight of i-th of particle；
When particle convergence, first matched positioning result is (Cx, Cy, Cz)。
9. integrated positioning device according to claim 6, which is characterized in that fixed for the first time in the locating and tracking module
Position tracking particle collection is to cover the particle collection of the second setting range centered on head matching positioning result；
The update of locating and tracking particle weights obtains corresponding weight using update method identical with head matching first, multiplied by
Inverse with each particle apart from current wireless base station distance obtains the newest weight of current particle；Constraint condition according to the map,
If it is determined that current particle position be pedestrian can not in-position, then the weight of the particle is set as 0.
10. integrated positioning device according to claim 3, which is characterized in that in pedestrian's dead-reckoning module, according to
FormulaJudge whether pedestrian takes a step forward；In formula, Var is variance；Acc is
Resultant acceleration, throld1_acc are resultant acceleration threshold value；Acc_max is the maximum value for setting resultant acceleration in the period；Acc_
Min is the minimum value for setting resultant acceleration in the period；Throld2_acc: for resultant acceleration peak-to-peak value threshold value in the setting period.
According toCalculate pedestrian's step-length Len_step；Fs is the frequency acquisition of MEMS module in formula；
Fs_step is the duration lasting when back.
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