CN110285809B - Indoor and outdoor integrated combined positioning device - Google Patents

Indoor and outdoor integrated combined positioning device Download PDF

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CN110285809B
CN110285809B CN201910636009.4A CN201910636009A CN110285809B CN 110285809 B CN110285809 B CN 110285809B CN 201910636009 A CN201910636009 A CN 201910636009A CN 110285809 B CN110285809 B CN 110285809B
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CN110285809A (en
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李素敏
王刚刚
申志飞
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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

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Abstract

The invention relates to an indoor and outdoor integrated combined positioning device, belongs to the technical field of positioning, and solves the problem of providing position information service covering a full airspace for personnel; the data acquisition module is used for acquiring magnetic field data, angular velocity data, acceleration data, wireless signal data, air pressure height data, a magnetic field and satellite navigation data; the combined positioning module is connected with the data acquisition module, receives the data acquired by the data acquisition module, judges whether the current positioning condition is indoors or not, and performs positioning calculation of personnel based on the fusion of inertial navigation positioning, magnetic field matching positioning, wireless positioning, air pressure height measurement and map constraint of a particle filter framework; and if not, performing positioning calculation on the personnel by adopting a combined positioning method including satellite positioning. The invention can provide position information service of full airspace coverage for personnel and is used for scenes of emergency rescue, safety management, positioning navigation and the like.

Description

Indoor and outdoor integrated combined positioning device
Technical Field
The invention relates to the technical field of positioning, in particular to an indoor and outdoor integrated combined positioning device.
Background
The positioning technology is characterized in that a set of position positioning system is formed by integrating multiple technologies such as wireless communication, base station positioning, inertial navigation positioning and the like, so that position service is provided for application in industries such as military command, aerospace, transportation, weather, trip, emergency rescue, safety monitoring and the like.
With the development of mobile communication and wireless sensor networks, the positioning technology has gradually entered a completely new stage. The satellite positioning and navigation technology mainly based on GPS and Beidou is widely and mature applied outdoors, but is limited in application occasions where satellite signals cannot be covered or seriously shielded indoors, underground, caves, city street lanes, mountain jungles and the like.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide an indoor and outdoor integrated combined positioning device, which provides a full airspace coverage location information service for personnel.
The purpose of the invention is mainly realized by the following technical scheme:
the invention discloses an indoor and outdoor integrated combined positioning device, which comprises a data acquisition module and a combined positioning module, wherein the data acquisition module is connected with the combined positioning module;
the data acquisition module is used for acquiring magnetic field data, angular velocity data, acceleration data, wireless signal data, air pressure height data and satellite navigation data;
the combined positioning module is connected with the data acquisition module, receives data acquired by the data acquisition module, judges whether the current positioning condition is indoors or not, and performs positioning calculation of personnel based on fusion of inertial navigation positioning, magnetic field matching positioning, wireless positioning, air pressure height measurement and map constraint of a particle filter framework; and if not, performing positioning calculation on the personnel by adopting a combined positioning method including satellite positioning.
Further, the data acquisition module comprises a magnetic sensor module, an IMU module, a wireless signal acquisition module, an air pressure sensor module and a satellite positioning module;
the magnetic sensor module comprises a three-axis digital magnetic sensor and is used for measuring and outputting the three-axis component data of the magnetic field at the position of the positioning device;
the IMU module integrates MINS sensors of a three-axis accelerometer and a three-axis gyroscope and is used for measuring and outputting inertial navigation data comprising three-axis acceleration and three-axis angular velocity;
the wireless signal acquisition module is used for acquiring wireless signal data transmitted by the wireless base station;
the air pressure sensor module is used for measuring the atmospheric pressure at the position of the positioning device and outputting air pressure height data;
and the satellite positioning module is used for receiving the navigation satellite data to perform satellite positioning and outputting satellite positioning data.
Furthermore, the combined positioning module comprises a positioning filtering module, and the positioning filtering module comprises an indoor and outdoor distinguishing module, an indoor positioning filtering module and an outdoor positioning filtering module;
the indoor and outdoor discrimination module judges whether the combined positioning device is positioned indoors or outdoors according to set conditions;
the indoor positioning filtering module performs positioning calculation by adopting a fusion positioning method based on a particle filtering framework according to inertial navigation data, magnetic field data, wireless signal data and air pressure height data output by the data acquisition module;
the outdoor positioning filtering module adopts a combined positioning method including satellite positioning to perform positioning calculation.
Furthermore, the indoor and outdoor discrimination module is connected with the satellite positioning module and the wireless signal acquisition module; and judging whether the indoor or the outdoor is judged according to the strength of the navigation satellite signal acquired by the satellite positioning module or the MAC address data of the wireless base station acquired by the wireless signal acquisition module.
Furthermore, the combined positioning module also comprises a sensor parameter storage module, a data correction module, a magnetic interference data identification and separation module and a pedestrian dead reckoning module;
the sensor parameter storage module is used for storing original parameters of the magnetic sensor module and the IMU module;
the data correction module is used for correcting the magnetic field data output by the magnetic sensor module according to the original parameters of the magnetic sensor module; correcting triaxial acceleration and triaxial angular velocity data output by the IMU module according to the original parameters of the IMU module;
the magnetic interference data identification and separation module is used for carrying out interference identification and separation on the corrected magnetic field data and outputting the magnetic field data subjected to interference separation; outputting the magnetic field data after the interference separation to the indoor positioning filtering module;
the pedestrian dead reckoning module is used for carrying out pedestrian dead reckoning according to the corrected triaxial acceleration and triaxial angular velocity data and outputting step length, course and position information of personnel; and detecting zero speed, estimating the current zero offset of the gyroscope, and correcting the zero offset of the gyroscope stored by the sensor parameter storage module.
Furthermore, the indoor positioning filtering module comprises a first matching module and a positioning tracking module;
the first matching module is used for generating a first matching particle set taking a positioning key point position as a center through wireless positioning and barometric pressure height measurement; updating the weight of the particles by a positioning fusion method of pedestrian dead reckoning and magnetic field matching until the particles meeting the convergence condition are obtained, judging that the first matching is successful, and outputting a first matching positioning result;
the positioning and tracking module is used for generating a first positioning and tracking particle set according to the first matching positioning result; and updating the weight of the particles by a positioning fusion method of matching the pedestrian dead reckoning with the magnetic field, outputting a tracking positioning result, updating the last positioning tracking particle set when the particles are judged to meet the convergence condition, repeating the positioning tracking process, and continuously outputting the tracking positioning result.
Further, the first matching method in the first matching module comprises,
1) generating a first matching particle set which takes a positioning key point position as a center and covers a first set range;
the plane position data of the positioning key points are the plane position data of the transmitting base station which receives wireless signal data when the plane position data of the positioning key points are first matched; the height data of the positioning key points are measured air pressure height data;
the information of each particle in the first matching particle set comprises a three-dimensional position, a course and a weight;
2) carrying out magnetic field matching to obtain a correlation value of each particle;
according to a pedestrian dead reckoning result, extracting magnetic field acquisition data with a set length as first magnetic field data, combining particle information in a first matching particle set to obtain magnetic field data in a magnetic field map corresponding to the magnetic field acquisition data as second magnetic field data, and calculating a matching correlation value of the first magnetic field data and the second magnetic field data through a magnetic field matching algorithm to serve as a correlation value of each particle;
3) updating the particle weight;
multiplying the correlation value of the particle with the weight of the current particle to obtain the latest weight information of the particle;
4) determination of particle convergence
Calculating the aggregation degree of the current particle position according to the three-dimensional position and the latest weight information of each particle, judging convergence if the aggregation degree of the particles exceeds a set threshold, and outputting a first matching positioning result; otherwise, returning to 2) extracting the magnetic field acquisition data again and calculating the particle correlation value.
Further, the particle position aggregation degree:
Figure GDA0002155498950000041
in the formula:
Figure GDA0002155498950000042
Figure GDA0002155498950000043
n is the number of particles; pxi，Pyi，PziThe three-dimensional position corresponding to the ith particle; w is aiThe weight corresponding to the ith particle;
when the particles converge, the first matching localization result is (C)x，Cy，Cz)。
Furthermore, in the positioning and tracking module, the first positioning and tracking particle set is a particle set which takes the first matching positioning result as the center and covers a second set range;
updating the weight of the positioning tracking particles, namely firstly adopting an updating method the same as the first matching to obtain corresponding weight, and then multiplying the reciprocal of the distance between each particle and the current wireless base station to obtain the latest weight of the current particle; according to the map constraint condition, if the current particle position is judged to be the position where the pedestrian can not reach, the weight of the particle is set to be 0.
Further, in the pedestrian dead reckoning module, the formula is used
Figure GDA0002155498950000051
In the formula, Var is variance; acc is the resultant acceleration, and throld1_ Acc is the resultant acceleration threshold; acc _ max is the maximum value of the combined acceleration in the set period; acc _ min is the minimum value of the resultant acceleration in a set period; throld2_ acc: the peak-to-peak value threshold of the resultant acceleration in a set period is set.
According to
Figure GDA0002155498950000052
In the formula, fs is the acquisition frequency of the MEMS module; fs step is the duration for which the current step lasts.
The invention has the following beneficial effects:
the invention can provide position information service of full airspace coverage for personnel and is used for scenes of emergency rescue, safety management, positioning navigation and the like. The method has the advantages of less hardware deployment, simple maintenance, capability of distinguishing floors and difficulty in shielding and interference; meanwhile, through the improvement of the whole positioning framework, the stability of magnetic field positioning is improved, and therefore the robustness of the indoor positioning system and the adaptability to most application scenes are ensured.
The three-axis digital magnetic sensor used in the invention has high sensitivity, low noise, high zero point stabilization speed, simple circuit and small volume, and effectively reduces the cost while ensuring the measurement precision; wireless positioning is used, so that the identification of key position points in a complex scene by a positioning device is realized; the floor can be effectively distinguished by using the pressure sensor; the GPS/Beidou dual-mode satellite navigation module is adopted, so that indoor and outdoor integrated seamless navigation is realized; the edge side is supported to carry out real-time calculation, the bandwidth requirement can be effectively reduced, and the real-time performance and the user experience are improved.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic diagram illustrating a principle of an indoor and outdoor integrated combined positioning device in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The embodiment discloses an indoor and outdoor integrated combined positioning device, as shown in fig. 1, comprising a data acquisition module and a combined positioning module;
the data acquisition module is used for acquiring magnetic field data, angular velocity data, acceleration data, wireless signal data, air pressure height data and satellite navigation data;
the combined positioning module is connected with the data acquisition module, receives data acquired by the data acquisition module, judges whether the current positioning condition is indoors or not, and performs positioning calculation of personnel based on the fusion of inertial navigation positioning, magnetic field positioning, wireless positioning, air pressure height measurement and map constraint of a particle filter framework; and if not, performing positioning calculation on the personnel by adopting a combined positioning method including satellite positioning.
Specifically, the data acquisition module includes a magnetic sensor module, an IMU (Inertial measurement unit) module, a wireless signal acquisition module, an air pressure sensor module, and a satellite positioning module;
the magnetic sensor module comprises a three-axis digital magnetic sensor and is used for measuring and outputting the three-axis component data of the magnetic field at the position of the positioning device; the built-in temperature compensation circuit has a self-testing function, adopts an LGA packaging form, has the volume of 3mm multiplied by 1mm, and is beneficial to miniaturization design. The chip supports an I2C output interface, has the speed of 400KHz and can be directly connected with a signal processor; the digital output frequency (ODR) can reach 200Hz, the typical value of sensitivity is 6.6LSB/uT @ +/-500 uT, the typical value of zero offset changing along with temperature is 0.027uT/° K, and the device has extremely low noise and excellent temperature drift characteristics, and is suitable for miniaturization, low cost, low power consumption and high-precision design.
The IMU module adopts Micro Electro Mechanical Systems (MEMS), and is integrated with a MINS (Micro-Inertial-Navigation System) sensor of a three-axis accelerometer and a three-axis gyroscope, and is used for measuring and outputting three-axis acceleration and three-axis angular velocity data of the positioning device; the chip volume is 2.5mm x 3mm x 0.83mm, the power consumption is 290uW @1.8V/ODR ═ 52Hz, under the power-down mode, the power consumption is as low as 3uA, the acceleration and angular velocity information can be output in a digital mode, and the power-down mode can be directly connected with a signal processor, so that the power-down mode is suitable for miniaturization, low-cost and low-power-consumption design. The range of the accelerometer can reach +/-16 g (g is the acceleration of gravity), and the range of the gyroscope is +/-2000 dps (degrees per second); the sensitivity of the accelerometer is 0.122mg/LSB @ +/-4 g, 8.75mdps/LSB @ +/-245 dps; the zero offset of the accelerometer is +/-40 mg, and the zero offset of the gyroscope is +/-3 dps; accelerometer noise 90ug/sqrt (Hz) @ +/-8 g, gyroscope noise 3.8mdps/sqrt (Hz); the data output rate (ODR) of the accelerometer and gyroscope can reach 6.6KHz at most.
The wireless signal acquisition module is used for acquiring wireless signals transmitted by a wireless base station, and the arrangement position, the serial number and the MAC address of the wireless base station are preset; the wireless base station is arranged at the position of the key point and used for assisting the navigation of the positioning device. The wireless signal acquisition module can be composed of a Bluetooth or other types of wireless signal acquisition circuits and is required to be matched with a Bluetooth base station or radio frequency identification equipment for use. Bluetooth adopts an open frequency band, has a carrier frequency of 2.4GHz, supports a V4.2 complete standard, and comprises traditional Bluetooth (BR/EDR) and Bluetooth Low Energy (BLE). The standard Class-1, Class-2 and Class-3 are supported, an external power amplifier is not needed, the precise power control is enhanced, the output power is as high as +12dBm, the receiver has BLE receiving sensitivity of-97 dBm, and Adaptive Frequency Hopping (AFH) can support all BLE applications based on GATT. The bluetooth of the positioning device receives the broadcast of the bluetooth base station, so as to identify the position of the positioning device, and in order to improve the accuracy of the identification of the key point, the broadcast frequency and power of the bluetooth base station need to be reasonably set.
In addition to bluetooth, radio frequency identification tags (up to GHz level), low frequency radio identification (down to KHz level), and the like may be used.
The air pressure sensor module is used for measuring the atmospheric pressure at the position of the positioning device and outputting air pressure height data; the measuring range of the air pressure sensor is 300 hPa-1250 hPa, the relative measuring precision is +/-0.06 hPa under the environment of 25-40 ℃, the absolute precision is +/-0.5 hPa under the environment of 0-65 ℃ and 300 hPa-1100 hPa, and the chip volume is 2mm multiplied by 0.75 mm. Pressure and temperature data can be stored in a 512-byte built-in FIFO, and the power consumption during the whole operation is as low as 2.7 uA/Hz. The sensor is suitable for smart phones, tablet computers and wearable devices, can achieve the accuracy of outdoor/indoor navigation and positioning applications, for example, altitude data can determine the floor of a user in a building, and meanwhile, the accuracy of an outdoor GPS can be improved.
The satellite positioning module is used for receiving navigation satellite data in an outdoor environment to perform satellite positioning and outputting satellite positioning data; the information can be fused with information such as magnetic field, acceleration, angular velocity and the like, and the precision of the traditional satellite positioning is improved. The satellite positioning module is a high-performance GPS/Beidou dual-mode positioning module. The module is compatible with a 3.3V/5V embedded system and is convenient to design. Has 167 receiving channels, supports QZSS, WAAS, MSAS, EGNOS, GAGAN; positioning accuracy 2.5mCEP (SBAS: 2.0CEP), update rate 1/2/4/5/8/10/20 Hz; in the hot start state, the capture time was 1s, and the capture tracking sensitivity was-165 dBm. The module has small volume and excellent performance, can carry out various parameter configurations through serial ports and is convenient to use; the module is provided with a rechargeable backup battery, and can be powered down to keep ephemeris data.
Specifically, the combined positioning module comprises a sensor parameter storage module, a data correction module, a magnetic interference data identification and separation module, a Pedestrian Dead Reckoning (PDR) module, a database module and a positioning filtering module;
the sensor parameter storage module is used for storing original parameters of the magnetic sensor and the IMU module;
the original parameters of the IMU module include: gyroscope triaxial zero offset omegax0，ωy0，ωz0Zero offset a of the three axes of the accelerometerx0，ay0，az0Scale factor error S of the three axes of an accelerometerx0，Sy0，Sz0Cross coupling factor M of three axes of accelerometerxy，Myz，Mzx；
The raw parameters of the magnetic sensor module include: magnetic sensor triaxial zero biasx，by，bzAnd sensitivity sx，sy，sz(ii) a Storing the zero offset b of three axes of the magnetic sensor when the magnetic field matching uses scalar features to match the bitsx，by，bzSensitivity sx，sy，szAnd the error u of non-orthogonalityx，uy，uz。
The data correction module is used for correcting the magnetic field data output by the magnetic sensor module according to the original parameters of the magnetic sensor; correcting triaxial acceleration and triaxial angular velocity data output by the IMU module according to the original parameters of the IMU module;
specifically, the method for correcting the triaxial acceleration and triaxial angular velocity data comprises the following steps:
zero offset omega of three axes of gyroscopex0，ωy0，ωz0And angular velocity measurement ωx1，ωy1，ωz1Substituted type
Figure GDA0002155498950000091
Correcting zero offset of the gyroscope to obtain corrected angular velocity values omega of three axes of the gyroscopex2，ωy2，ωz2；
The original parameter a of the accelerometer is measuredx0，ay0，az0And acceleration measurement ax1，ay1，az1Substituted type
Figure GDA0002155498950000092
Correcting the zero offset of the accelerometer to obtain the corrected acceleration value a of the three axes of the accelerometerx2，ay2，az2Wherein S isx0，Sy0，Sz0Scale factor error for three axes of the accelerometer; cross coupling factor M of three axes of accelerometeryx＝Mxy；Mzy＝Myz；Mxz＝Mzx。
And the subsequent inertial navigation positioning precision is improved by correcting the data of the gyroscope and the accelerometer.
The correction method of the magnetic field data comprises the following steps:
when vector matching is used, the formula is used
Figure GDA0002155498950000101
Correcting sensitivity and zero point error of the magnetic field sensor, the magRx1、magRy1、magRz1Is the corrected three-axis magnetic field;
when scalar matching is used, the total field strength magRf＝sqrt(magRx1 2+magRy1 2+magRz1 2) (ii) a Using a formula
Figure GDA0002155498950000102
Correcting errors such as sensitivity and zero point of the magnetic field sensor
Figure GDA0002155498950000103
The above-mentioned
Figure GDA0002155498950000104
And the magnetic interference data identification and separation module is used for carrying out interference identification and separation on the corrected magnetic field data and outputting the magnetic field data subjected to interference separation.
The stability of the magnetic field characteristics is ensured by identifying and removing random interference magnetic fields in the environment. Before positioning is carried out by utilizing a magnetic field, interference identification and separation are required to be carried out on magnetic field data obtained by measurement, in a general application environment, the interference mainly comes from various electrical equipment and is mainly embodied as high-frequency signals and step signals generated by equipment switches, and the identification and separation of the two types of signals comprise the following steps:
1) firstly, median filtering is carried out on collected magnetic field data, a median filtering window is generally set to be 1-2 s of sampling points, high-frequency interference generated by electrical equipment can be effectively eliminated through the median filtering, and step signals and environment characteristic signals generated by electrical equipment switches are reserved;
2) carrying out first-order difference on the filtered data, and enabling step signals to be highlighted through difference processing;
3) detecting by setting a related threshold, wherein the threshold is regarded as a step signal when the threshold is higher than the threshold, and the threshold is set to be the mean value of the first-order difference of the measured data within the latest 1s plus 3 times of the standard deviation according to experience;
4) and replacing the detected value with the average value of the first-order difference of the measured data within 1s, and performing integral reduction to obtain the magnetic field data after interference separation.
The pedestrian dead reckoning module is used for carrying out pedestrian dead reckoning according to the corrected triaxial acceleration and triaxial angular velocity data and outputting step length, course and position information of personnel; detecting zero speed, estimating the current zero offset of the gyroscope, and correcting the zero offset of the gyroscope stored by the sensor parameter storage module;
specifically, the pedestrian dead reckoning method in the pedestrian dead reckoning module includes:
1) gait recognition
The judgment criterion of the pedestrian walking in one step is shown as the following formula, and when the two formulas are simultaneously met, the judgment criterion indicates that the pedestrian walks in one step.
Figure GDA0002155498950000111
In the formula (I), the compound is shown in the specification,
var: represents the variance;
acc: a resultant acceleration representing a root mean square of acceleration data over a certain period of time (e.g., 0.5 s);
throld1_ acc: represents a resultant acceleration threshold;
acc _ max: representing the maximum value of the resultant acceleration in a certain period;
acc _ min: representing the minimum value of the resultant acceleration in a certain period;
throld2_ acc: indicating the threshold of the peak value of the resultant acceleration in a certain period.
2) Step size estimation
When the pedestrian is detected to travel one step, the method is based on the formula
Figure GDA0002155498950000121
Calculating the step length; in the formula, fs: representing a set frequency of the MEMS module; fs _ step: indicating the duration of the current step.
3) Attitude resolution
The method comprises the following specific steps:
(1) giving initial values to the pitch angle, roll angle and course angle of inertial navigation data
Figure GDA0002155498950000122
A is ax2，ay2，az2The corrected initial acceleration values of the three axes of the accelerometer are obtained, and g is the gravity acceleration.
(2) And carrying out dead reckoning.
And finally, calculating the current acceleration, speed and position based on the acceleration, speed and position of the last group and the current Euler transformation matrix. The method comprises the following specific steps:
a. an initial quaternion is calculated from the initial attitude angle,
calculating the initial values of pitch angle, roll angle and course angle
Figure GDA0002155498950000123
Substituted type
Figure GDA0002155498950000124
Calculating a rotation matrix from a carrier coordinate system to a geographic coordinate system;
calculating an initial quaternion according to the obtained rotation matrix:
Figure GDA0002155498950000131
b. calculate the integral of angular velocity over one period:
Figure GDA0002155498950000132
Δ T is the integration time; calculating an oblique symmetry matrix:
Figure GDA0002155498950000133
c. the current quaternion Q ═ (Icos (Φ/2) + sin (Φ/2) [ Θ ] is obtained]/φ)Q0And assigning a quaternion of the current time to Q0The I is a 4 multiplied by 4 identity matrix;
d. calculating a new rotation matrix from the carrier coordinate system to the navigation coordinate system according to the current quaternion:
Figure GDA0002155498950000134
e. updating the acceleration value under the navigation coordinate system:
Figure GDA0002155498950000135
g is the acceleration of gravity; updating the navigation coordinate system lower speed value:
Figure GDA0002155498950000136
the initial speed value is generally set to 0, and delta T is a time interval;
in the actual calculation process, if the dead reckoning is carried out for a long time, the speed may be diverged to a very large value, which is not in line with the actual situation, a threshold is set for the speed, and when the calculated speed exceeds the threshold, the threshold speed is adopted as the actual speed for updating;
updating the position value under the navigation coordinate system:
Figure GDA0002155498950000141
the initial position value is generally set to 0;
updating the attitude angle of the carrier coordinate system relative to the navigation coordinate system:
Figure GDA0002155498950000142
f. and repeating b-e, and continuously carrying out dead reckoning.
4) Dead reckoning
After the pedestrian travels further, the step length and the current heading are obtained, and the current position is calculated according to the following formula:
Figure GDA0002155498950000143
in the formula, Pos _ Xi-1，Pos_Yi-1The position of the previous step; pos _ Xi，Pos_YiIs the current position; len step is the current step size.
5) Parameter estimation
The parameter estimation adopted here is mainly based on the ZUPT algorithm, and when the range of data of the three-axis gyroscope in five continuous periods is smaller than a certain threshold value close to 0, the positioning terminal is judged to be in the zero-speed state; and if the current positioning terminal is at zero speed, estimating the zero offset and the attitude error of the current gyroscope based on a Kalman filter, and correcting the attitude and the zero offset of the gyroscope by the sensor parameter storage module.
The database module is used for storing information of the wireless base station, information of the magnetic field diagram, information of an entrance and an exit and the like; the wireless base station information comprises the position, the number and the MAC address information of the indoor and outdoor wireless base stations arranged in the positioning area; the magnetic field map information is matrix element information corresponding to the grid map of the positioning area; in the position of a positioning area which cannot be reached by the pedestrian, the matrix element is 0; in the position of a positioning area where the pedestrian can reach, the matrix elements are magnetic field data corresponding to the grid position; the gateway key point information comprises the serial numbers and the position information of the gateway and other key points in the positioning area;
the positioning filtering module comprises an indoor and outdoor distinguishing module, an indoor positioning filtering module and an outdoor positioning filtering module;
the indoor and outdoor discrimination module judges whether the combined positioning device is positioned indoors or outdoors according to set conditions;
the indoor positioning filtering module is positioned by adopting a particle filtering frame-based combined positioning method;
the outdoor positioning filtering module adopts a combined positioning method including satellite positioning to perform positioning.
Specifically, the indoor and outdoor discrimination module is connected with the satellite positioning module and the wireless signal acquisition module; and judging whether the indoor or the outdoor is judged according to the strength of the navigation satellite signal acquired by the satellite positioning module or the MAC address data of the wireless base station acquired by the wireless signal acquisition module.
Preferably, the current positioning condition is judged to be indoor according to the condition that the strength of the acquired satellite positioning signal is lower than a set threshold or by judging that the MAC address of the base station acquired by the wireless signal acquisition module is the MAC address of the indoor base station stored in the database module,
similarly, the current positioning condition can also be judged to be outdoor by judging that the strength of the acquired satellite positioning signal is higher than a set threshold or by judging that the MAC address of the base station acquired by the wireless signal acquisition module is the MAC address of the outdoor base station stored in the database module.
Specifically, the indoor positioning filtering module comprises a first matching module and a positioning tracking module;
the first matching module is used for generating a first matching particle set taking a positioning key point position as a center through wireless positioning and barometric pressure height measurement; updating the weight of the particles by a positioning fusion method of pedestrian dead reckoning and magnetic field matching until the particles meeting the convergence condition are obtained, judging that the first matching is successful, and outputting a first matching positioning result;
specifically, the first matching method in the first matching module comprises,
1) generating a first matching particle set which takes a positioning key point position as a center and covers a first set range;
the plane position data of the positioning key points are the plane position data of the transmitting base station which receives wireless signal data when the plane position data of the positioning key points are first matched; the height data of the positioning key points are measured air pressure height data;
when the first matching positioning is carried out, a wireless signal receiving device carried by a pedestrian receives a wireless signal, identifies the MAC address of a wireless signal transmitting base station, and searches the plane position information of the wireless base station corresponding to the MAC address in the wireless base station data distributed in the positioning area stored in the database module; measuring the atmospheric pressure at the position by an air pressure sensor carried by a pedestrian, and outputting air pressure height data; the altitude data may determine the specific floor of the person within the building.
The information of each particle in the first matching particle set comprises a three-dimensional position, a course and a weight;
the three-dimensional position of each particle in the particle set is set by taking the three-dimensional position of the positioning key point as a center and taking a set distance as an interval, and the three-dimensional position covers a first set range; the interval can be adjusted according to the positioning precision; the first setting range may be set empirically based on the matching data size requirement and the matching distance requirement of the first matching, for example, particle generation may be performed at a grid interval of 0.1m in a circle having a radius of 3m and a center of a base station plane position.
Setting navigation and weight of each particle as default values;
note that the generated particles are also subjected to map constraint, and the weight is 0 when the particles cannot be located in an obstacle that cannot be reached by a pedestrian, that is, when the particle position is an obstacle.
The positions of the wireless base stations are set in the layout, and when personnel enter the indoor positioning area, signals transmitted by the wireless base stations can be received, for example, the wireless base stations are arranged near an entrance and an exit of the indoor positioning area, so that the personnel can carry out first matching when entering the indoor positioning area through the entrance and the exit;
specifically, the wireless signal may be one of bluetooth, RFID, wifi, and the like, but is not limited to the above wireless signal.
2) Carrying out magnetic field matching to obtain a correlation value of each particle;
specifically, the magnetic field for performing magnetic field matching is first magnetic field data and second magnetic field data;
the first magnetic field data is the magnetic field data which is extracted according to the dead reckoning result of the pedestrian and is collected by the magnetic field sensor carried by the person with the set length (for example, an empirical value of 5 m);
the magnetic field data is magnetic field acquisition data after correction and magnetic interference data identification separation;
the pedestrian dead reckoning result is obtained by carrying out pedestrian dead reckoning according to inertial navigation data acquired by inertial navigation carried by people; the pedestrian information comprises the pedestrian advancing position, course and step length information; the input data is inertial navigation data corrected by data of a gyroscope and an accelerometer
The second magnetic field data is the magnetic field data in the magnetic field map corresponding to the acquired magnetic field acquisition data by combining the particle information in the first matching particle set;
specifically, the matching correlation value of the first and second magnetic field data is calculated as the correlation value of each particle by a matching correlation algorithm such as a mean square error algorithm (MSD) or a cross correlation algorithm (COR).
3) Updating the particle weight;
multiplying the correlation value of the particle with the weight of the current particle to obtain the latest weight information of the particle;
4) judging the convergence of the particles;
calculating the aggregation degree of the current particle position according to the three-dimensional position and the latest weight information of each particle, judging convergence if the aggregation degree of the particles exceeds a set threshold, and outputting a first matching positioning result; otherwise, returning to 2) extracting the magnetic field acquisition data again and calculating the particle correlation value.
Preferably, the degree of particle site aggregation
Figure GDA0002155498950000171
In the formula:
Figure GDA0002155498950000172
n is the number of particles in the particle set; pxi，Pyi，PziThe three-dimensional position corresponding to the ith particle; w is aiThe weight corresponding to the ith particle;
when the particles converge, the first matching localization result is (C)x，Cy，Cz)。
The positioning and tracking module is used for generating a first positioning and tracking particle set according to the first matching positioning result; and updating the weight of the particles by a positioning fusion method of matching the pedestrian dead reckoning with the magnetic field, outputting a tracking positioning result, updating the last positioning tracking particle set when the particles are judged to meet the convergence condition, repeating the positioning tracking process, and continuously outputting the tracking positioning result.
Specifically, the positioning and tracking method in the positioning and tracking module comprises,
1) generating a first positioning tracking particle set according to the first matching positioning result;
further, the initial particle set of location tracking is a first matching location result (C)x，Cy，Cz) A particle set covering a second set range as a center;
the second setting range can be set according to the requirement of the matching calculation data volume of the tracking positioning and the requirement of the matching tracking distance according to experience;
the information for locating and tracking the particles in the particle set is consistent with the information for the particles in the first matching particle set.
2) Carrying out magnetic field matching to obtain a correlation value of each particle;
the magnetic field matching method used may be the same as the first matching address matching method.
3) Updating the particle weight and outputting a tracking and positioning result;
specifically, in the step of tracking and positioning, updating the weight of the particles, firstly, obtaining the corresponding weight by adopting the same updating method as the first matching, and then multiplying the corresponding weight by the reciprocal of the distance between each particle and the current wireless base station to obtain the latest weight of the current particle; and if the current particle position is judged to be the position which cannot be reached by the pedestrian according to the magnetic field map data, the weight of the particle is set to be 0.
Output the positioning result as
Figure GDA0002155498950000181
M is the number of particles in the positioning tracking particle set; pxi，Pyi，PziThe three-dimensional position corresponding to the ith particle; w is aiThe weight corresponding to the ith particle.
The outdoor positioning filtering module adopts a conventional Kalman filtering mode, namely, the magnetic sensor module provides the current direction, a position result is given based on a Kalman filter and by fusing a dead reckoning result of the pedestrian dead reckoning module and satellite data output by the satellite positioning module, a continuous advancing track of a pedestrian is provided, and meanwhile, accurate three-dimensional position result is finally given by combining air pressure height data output by the air pressure sensor module.
Preferably, the combined positioning module of this embodiment further includes a wireless transmission module, configured to transmit the processed positioning data to an upper computer.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (9)

1. An indoor and outdoor integrated combined positioning device is characterized by comprising a data acquisition module and a combined positioning module;
the data acquisition module is used for acquiring magnetic field data, angular velocity data, acceleration data, wireless signal data, air pressure height data and satellite navigation data;
the combined positioning module is connected with the data acquisition module, receives data acquired by the data acquisition module, judges whether the current positioning condition is indoors or not, and performs positioning calculation of personnel based on fusion of inertial navigation positioning, magnetic field matching positioning, wireless positioning, air pressure height measurement and map constraint of a particle filter framework if the current positioning condition is indoors; if not, performing positioning calculation on the personnel by adopting a combined positioning method including satellite positioning;
the combined positioning module comprises a positioning filtering module; the positioning and filtering module comprises an indoor positioning and filtering module, and the indoor positioning and filtering module performs positioning calculation by adopting a particle filter frame-based fusion positioning method according to inertial navigation data, magnetic field data, wireless signal data, air pressure height data and magnetic field map data output by the data acquisition module;
the indoor positioning filtering module comprises a first matching module; the first matching module is used for generating a first matching particle set taking a positioning key point position as a center through wireless positioning and barometric pressure height measurement; updating the weight of the particles by a positioning fusion method of pedestrian dead reckoning and magnetic field matching until the particles meeting the convergence condition are obtained, judging that the first matching is successful, and outputting a first matching positioning result;
the first matching method in the first matching module comprises the following steps:
1) generating a first matching particle set which takes a positioning key point position as a center and covers a first set range;
the plane position data of the positioning key points are the plane position data of the transmitting base station which receives wireless signal data when the plane position data of the positioning key points are first matched; the height data of the positioning key points are measured air pressure height data;
the information of each particle in the first matching particle set comprises a three-dimensional position, a course and a weight;
2) carrying out magnetic field matching to obtain a correlation value of each particle;
according to a pedestrian dead reckoning result, extracting magnetic field acquisition data with a set length as first magnetic field data, combining particle information in a first matching particle set to obtain magnetic field data in a magnetic field map corresponding to the magnetic field acquisition data as second magnetic field data, and calculating a matching correlation value of the first magnetic field data and the second magnetic field data through a magnetic field matching algorithm to serve as a correlation value of each particle;
3) updating the particle weight;
multiplying the correlation value of the particle with the weight of the current particle to obtain the latest weight information of the particle;
4) determination of particle convergence
Calculating the aggregation degree of the current particle position according to the three-dimensional position and the latest weight information of each particle, judging convergence if the aggregation degree of the particles exceeds a set threshold, and outputting a first matching positioning result; otherwise, returning to 2) extracting the magnetic field acquisition data again and calculating the particle correlation value.
2. The combination locator device of claim 1, wherein the data acquisition module comprises a magnetic sensor module, an IMU module, a wireless signal acquisition module, a barometric pressure sensor module, and a satellite location module;
the magnetic sensor module comprises a three-axis digital magnetic sensor and is used for measuring and outputting the three-axis component data of the magnetic field at the position of the positioning device;
the IMU module integrates MINS sensors of a three-axis accelerometer and a three-axis gyroscope and is used for measuring and outputting inertial navigation data comprising three-axis acceleration and three-axis angular velocity;
the wireless signal acquisition module is used for acquiring wireless signal data transmitted by the wireless base station;
the air pressure sensor module is used for measuring the atmospheric pressure at the position of the positioning device and outputting air pressure height data;
and the satellite positioning module is used for receiving the navigation satellite data to perform satellite positioning and outputting satellite positioning data.
3. The combination positioning device of claim 1, wherein the positioning filter module further comprises an indoor/outdoor discrimination module and an outdoor positioning filter module;
the indoor and outdoor discrimination module judges whether the combined positioning device is positioned indoors or outdoors according to set conditions;
the outdoor positioning filtering module adopts a combined positioning method including satellite positioning to perform positioning calculation.
4. The combined positioning device of claim 3, wherein the indoor and outdoor discrimination module is connected with the satellite positioning module and the wireless signal acquisition module; and judging whether the indoor or the outdoor is judged according to the strength of the navigation satellite signal acquired by the satellite positioning module or the MAC address data of the wireless base station acquired by the wireless signal acquisition module.
5. The combination locator device of claim 3 wherein the combination locator module further comprises a sensor parameter storage module, a data correction module, a magnetic interference data identification and separation module, and a pedestrian dead reckoning module;
the sensor parameter storage module is used for storing original parameters of the magnetic sensor module and the IMU module;
the data correction module is used for correcting the magnetic field data output by the magnetic sensor module according to the original parameters of the magnetic sensor module; correcting triaxial acceleration and triaxial angular velocity data output by the IMU module according to the original parameters of the IMU module;
the magnetic interference data identification and separation module is used for carrying out interference identification and separation on the corrected magnetic field data and outputting the magnetic field data subjected to interference separation; outputting the magnetic field data after the interference separation to the indoor positioning filtering module;
the pedestrian dead reckoning module is used for carrying out pedestrian dead reckoning according to the corrected triaxial acceleration and triaxial angular velocity data and outputting step length, course and position information of personnel; and detecting zero speed, estimating the current zero offset of the gyroscope, and correcting the zero offset of the gyroscope stored by the sensor parameter storage module.
6. The combination locator device of claim 5 wherein the indoor location filtering module further comprises a location tracking module;
the positioning and tracking module is used for generating a first positioning and tracking particle set according to the first matching positioning result; and updating the weight of the particles by a positioning fusion method of matching the pedestrian dead reckoning with the magnetic field, outputting a tracking positioning result, updating the last positioning tracking particle set when the particles are judged to meet the convergence condition, repeating the positioning tracking process, and continuously outputting the tracking positioning result.
7. The combination locator device of claim 6, wherein the particle location concentration degree is:
Figure FDA0002689036610000041
in the formula:
Figure FDA0002689036610000042
Figure FDA0002689036610000043
n is the number of particles; pxi，Pyi，PziThe three-dimensional position corresponding to the ith particle; w is aiThe weight corresponding to the ith particle;
when the particles converge, the first matching localization result is (C)x，Cy，Cz)。
8. The combined positioning device according to claim 6, wherein in the positioning and tracking module, the first positioning and tracking particle set is a particle set covering a second set range with the first matching positioning result as a center;
updating the weight of the positioning tracking particles, namely firstly adopting an updating method the same as the first matching to obtain corresponding weight, and then multiplying the reciprocal of the distance between each particle and the current wireless base station to obtain the latest weight of the current particle; according to the map constraint condition, if the current particle position is judged to be the position where the pedestrian can not reach, the weight of the particle is set to be 0.
9. The combination locator device of claim 5, wherein the pedestrian dead reckoning module is based on a formula
Figure FDA0002689036610000044
Judging whether the pedestrian advances one step or not; in the formula, Var is variance; acc is the resultant acceleration, and throld1_ Acc is the resultant acceleration threshold; acc _ max is the maximum value of the combined acceleration in the set period; acc _ min is the minimum value of the resultant acceleration in a set period; throld2_ acc is a combined acceleration peak-to-peak threshold value in a set period;
according to
Figure FDA0002689036610000051
Calculating the pedestrian step length Len _ step; in the formula, fs is the acquisition frequency of the MEMS module; fs step is the duration for which the current step lasts.
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