CN110296699A - A kind of indoor orientation method and device based on earth's magnetic field - Google Patents
A kind of indoor orientation method and device based on earth's magnetic field Download PDFInfo
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- CN110296699A CN110296699A CN201910491909.4A CN201910491909A CN110296699A CN 110296699 A CN110296699 A CN 110296699A CN 201910491909 A CN201910491909 A CN 201910491909A CN 110296699 A CN110296699 A CN 110296699A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a kind of indoor orientation method and device based on earth's magnetic field, method includes: the earth magnetism fingerprint characteristic for acquiring the interior space to be positioned in advance, constructs earth magnetism fingerprint base after carrying out noise reduction pretreatment to the earth magnetism fingerprint characteristic；The initial position for obtaining current mobile vehicle, the area type where the initial position switch to corresponding locating rule；The Geomagnetic signal of mobile vehicle present position described in real-time measurement obtains the location information of current mobile vehicle after being matched the Geomagnetic signal that measurement obtains with the earth magnetism fingerprint base according to corresponding locating rule.The embodiment of the present invention is by carrying out noise reduction process to earth magnetism fingerprint characteristic gathered in advance, eliminate environment and acquisition bring noise in fingerprint base, corresponding locating rule is switched according to the different area type of the interior space simultaneously, influence of the single locating rule to matching positioning accuracy is avoided, positioning accuracy is improved.
Description
Technical field
The present invention relates to indoor positioning technologies field more particularly to a kind of indoor orientation methods and dress based on earth's magnetic field
It sets.
Background technique
Now, demand of the people to the location information of indoor scene is gradually increased, and the acquisition of location information is conducive to people
Perception to circumstances not known and it is familiar with, this has also caused indoor positioning to have become a big research hotspot at this stage, at this stage room
Signal type common in indoor environment is utilized in interior location technology, include WiFi, ZigBee, bluetooth, earth's magnetic field, ultra wide band,
Radio frequency etc., wherein earth's magnetic field is gradually each with advantage at low cost since it is without being laid with any hardware assist device
Each industry of row is praised highly.
Currently, the implementation of earth's magnetic field positioning predominantly obtains after collecting indoor earth magnetism characteristic fingerprint map, record each
The Geomagnetic signal feature of position simultaneously completes positioning by pipeline and magnetic field matching, however due to the excessive use inertial navigation function in positioning
Deviation accumulation can be will cause, while earth magnetism characteristic fingerprint map itself also has environment and Acquisition Error, so that earth's magnetic field positions
Mode cannot be considered in terms of higher accuracy while low cost.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of indoor positioning sides based on earth's magnetic field
Method and device, it is intended to solve in the prior art since ins error and fingerprint base Acquisition Error reduce earth's magnetic field positioning accuracy.
Technical scheme is as follows:
A kind of indoor orientation method based on earth's magnetic field, includes the following steps:
The earth magnetism fingerprint characteristic for acquiring the interior space to be positioned in advance carries out noise reduction pretreatment to the earth magnetism fingerprint characteristic
Earth magnetism fingerprint base is constructed afterwards；
The initial position for obtaining current mobile vehicle, the area type where the initial position switch to accordingly
Locating rule；
The Geomagnetic signal of mobile vehicle present position described in real-time measurement obtains measurement according to corresponding locating rule
Geomagnetic signal obtains the location information of current mobile vehicle after being matched with the earth magnetism fingerprint base.
In the indoor orientation method based on earth's magnetic field, the earth magnetism fingerprint for acquiring the interior space to be positioned in advance
Feature, comprising:
The interior space to be positioned is divided into corresponding area type according to preset path feature, every kind of area type is default
There is corresponding collection rule；
Earth magnetism fingerprint characteristic acquisition is carried out respectively by the interior space of the corresponding collection rule to different zones type.
It is described to press corresponding collection rule to different zones type in the indoor orientation method based on earth's magnetic field
The interior space carries out earth magnetism fingerprint characteristic acquisition respectively, specifically includes:
When area type is net region, linear pick-up is carried out according to grid transverse and longitudinal path；
When area type is multidirectional region, broken line acquisition is carried out along path direction.
In the indoor orientation method based on earth's magnetic field, the initial position for obtaining current mobile vehicle, according to
Area type where the initial position switches to corresponding locating rule, specifically includes:
When the area type where the initial position is net region, locating rule is switched into inertial navigation and is determined
Position；
When the area type where the initial position is multidirectional region, locating rule is switched into earth's magnetic field positioning.
In the indoor orientation method based on earth's magnetic field, believed according to the earth magnetism that corresponding locating rule obtains measurement
The location information of current mobile vehicle is obtained after number being matched with the earth magnetism fingerprint base, is specifically included:
When being switched to inertial navigation positioning, obtained currently after carrying out orientation judgement by the azimuth continuously measured
Walking orientation, and will Geomagnetic signal and the earth magnetism fingerprint base carry out magnetic orientation matching after obtain the position of current mobile vehicle
Coordinate；
When being switched to earth's magnetic field positioning, worked as after Geomagnetic signal is carried out magnetic orientation matching with the earth magnetism fingerprint base
The position coordinates of preceding mobile vehicle.
It is described that Geomagnetic signal and the earth magnetism fingerprint base are subjected to magnetic in the indoor orientation method based on earth's magnetic field
Before the position coordinates for obtaining current mobile vehicle after position matching, comprising:
Noise reduction pretreatment is carried out to the Geomagnetic signal that measurement obtains.
In the indoor orientation method based on earth's magnetic field, the noise reduction pretreatment is by wavelet transformation to be processed
Data carry out decomposed and reconstituted rear output noise reduction data.
Further embodiment of this invention additionally provides a kind of indoor positioning device based on earth's magnetic field, and described device includes at least
One processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
A processor executes, so that at least one described processor is able to carry out the above-mentioned indoor orientation method based on earth's magnetic field.
Another embodiment of the present invention additionally provides a kind of non-volatile computer readable storage medium storing program for executing, described non-volatile
Computer-readable recording medium storage has computer executable instructions, and the computer executable instructions are by one or more processors
When execution, one or more of processors may make to execute the above-mentioned indoor orientation method based on earth's magnetic field.
Another embodiment of the present invention additionally provides a kind of computer program product, and the computer program product includes depositing
The computer program on non-volatile computer readable storage medium storing program for executing is stored up, the computer program includes program instruction, works as institute
When stating program instruction and being executed by processor, the processor is made to execute the above-mentioned indoor orientation method based on earth's magnetic field.
The utility model has the advantages that the invention discloses a kind of indoor orientation method and device based on earth's magnetic field, compared to existing skill
Art, the embodiment of the present invention by earth magnetism fingerprint characteristic gathered in advance carry out noise reduction process, eliminate fingerprint base in environment with adopt
Collect bring noise, while corresponding locating rule is switched according to the different area type of the interior space, single positioning is avoided to advise
Then to the influence of matching positioning accuracy, positioning accuracy is improved.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the flow chart of the indoor orientation method preferred embodiment provided by the invention based on earth's magnetic field；
Fig. 2 is the hardware structural diagram of the indoor positioning device preferred embodiment provided by the invention based on earth's magnetic field.
Specific embodiment
To make the purpose of the present invention, technical solution and effect clearer, clear and definite, below to the present invention further specifically
It is bright.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.Below
The embodiment of the present invention is introduced in conjunction with attached drawing.
Referring to Fig. 1, Fig. 1 is the process of the indoor orientation method preferred embodiment provided by the invention based on earth's magnetic field
Figure.As shown in Figure 1, it includes the following steps:
S100, the earth magnetism fingerprint characteristic for acquiring the interior space to be positioned in advance carry out noise reduction to the earth magnetism fingerprint characteristic
Earth magnetism fingerprint base is constructed after pretreatment；
S200, the initial position for obtaining current mobile vehicle, the area type where the initial position switch to
Corresponding locating rule；
The Geomagnetic signal of mobile vehicle present position described in S300, real-time measurement will be measured according to corresponding locating rule
Obtained Geomagnetic signal obtains the location information of current mobile vehicle after being matched with the earth magnetism fingerprint base.
In the present embodiment, when carrying out earth's magnetic field indoor positioning, the earth magnetism of the default acquisition interior space to be positioned is needed to refer to
Earth magnetism characteristic fingerprint map, i.e. earth magnetism fingerprint base in line feature construction room, such as corresponding acquisition is written in cell phone client and answers
With after opening the application and obtaining planning path, the acquisition path shown by screen starts data of walking and acquire, according to cadence
Determine frequency acquisition, preferably at the uniform velocity acquisition guarantees the stability and accuracy of acquisition data, specifically, further mistake of being expert at
Cheng Zhong takes the average value of collected geomagnetic field intensity in each step-length section as the earth magnetism fingerprint characteristic in the step-length section,
And after collecting earth magnetism fingerprint characteristic, since acquisition equipment and environment all have certain noise, fingerprint base is influenced
The accuracy of acquisition, thus to collected earth magnetism fingerprint characteristic carry out noise reduction pretreatment after construct earth magnetism fingerprint base, with
It matches and positions in subsequent magnetic field, effectively eliminate the influence of collection process and environment to positioning accuracy.
When carrying out indoor positioning, the initial position of current mobile vehicle is first obtained, according to the initial position region
The difference of type switches to corresponding locating rule, so that the characteristics of locating rule is more in line with practical indoor environment；It is real later
When measure the Geomagnetic signal of the mobile vehicle present position and will be measured according to the corresponding locating rule of current region type
To Geomagnetic signal and the earth magnetism fingerprint base carry out matching positioning after obtain the location information of current mobile vehicle, avoid single
Influence of the locating rule bring deviation accumulation to matching positioning accuracy, improves positioning accuracy.
Further, the earth magnetism fingerprint characteristic for acquiring the interior space to be positioned in advance, comprising:
The interior space to be positioned is divided into corresponding area type according to preset path feature, every kind of area type is default
There is corresponding collection rule；
Earth magnetism fingerprint characteristic acquisition is carried out respectively by the interior space of the corresponding collection rule to different zones type.
When it is implemented, carrying out ground by identical collection rule since the interior space has the characteristics that environment path complexity
The acquisition of magnetic fingerprint characteristic is likely to cause the problems such as acquisition path coverage is low, accuracy rate is low, therefore in the present embodiment, according to pre-
If the interior space to be positioned is divided into corresponding area type by route characteristic, it is preset with accordingly for different area types
Collection rule carries out adopting for earth magnetism fingerprint characteristic to the interior space distribution of different zones type according to corresponding collection rule
Collection can plan acquisition path according to regional characteristics, guarantee fingerprint so that the acquisition of earth magnetism fingerprint characteristic has more region specific aim
The integrality and accuracy of library data acquisition.
Further, described to carry out earth magnetism fingerprint respectively by the interior space of the corresponding collection rule to different zones type
Collection apparatus specifically includes:
When area type is net region, linear pick-up is carried out according to grid transverse and longitudinal path；
When area type is multidirectional region, broken line acquisition is carried out along path direction.
In the present embodiment, two kinds are broadly divided into the division of the interior space, one kind is depletion region, since path is adjacent,
Therefore can according to transverse and longitudinal path by the region division be it is latticed, for such net region, collection rule is set as basis
Grid transverse and longitudinal path carries out linear pick-up, and another such as single path or path width are less than the region of preset value, such as walk
Corridor, circuit etc. region are directed to such multidirectional region since path direction is clear, and collection rule is arranged along road
Diameter direction carries out broken line acquisition, and the specific path that acquires can be configured according to actual area path feature, such as when in region
When inflection point is 0, then it can be acquired along single-pathway one-part form, and when inflection point is not 0, then it can plan that a plurality of segmented paths carry out
Segmented acquisition, wherein segmented paths need to cover all inflection points, i.e., when carrying out path fractionation guarantee acquisition not at inflection point
The correctness in orientation.
Further, the initial position for obtaining current mobile vehicle, the region class where the initial position
Type switches to corresponding locating rule, specifically includes:
When the area type where the initial position is net region, locating rule is switched into inertial navigation and is determined
Position；
When the area type where the initial position is multidirectional region, locating rule is switched into earth's magnetic field positioning.
When it is implemented, first obtaining the initial position of current mobile vehicle, switched to for different indoor provincial characteristics
Corresponding locating rule, so that meeting the location requirement of different zones in the case where reducing error as far as possible, with specific reference to area
Locating rule is switched to inertial navigation positioning method when initial position is located at net region by the division of field type, and originally
When beginning position is located at multidirectional region, then locating rule is switched into earth's magnetic field positioning method.Since the advantage of earth's magnetic field positioning exists
In matching line segments, and net region is since inflection point is excessive, and solely Magnetic oriented can not effective determination range, it is therefore desirable to switch
The blind area of magnetic orientation is assisted to inertial navigation positioning method；And when being in the multidirectional region of continuous single path, since it is turned
Orientation is put in acquisition it has been determined that therefore directly matching positioning can be carried out by earth's magnetic field positioning method, is determined at this time without inertial navigation
Position auxiliary, effectively compensates for and inertial navigation bring cumulative errors is used for a long time.
Further, the corresponding locating rule of the basis will the obtained Geomagnetic signal of measurement and the earth magnetism fingerprint base into
The location information of current mobile vehicle is obtained after row matching, is specifically included:
When being switched to inertial navigation positioning, obtained currently after carrying out orientation judgement by the azimuth continuously measured
Walking orientation, and will Geomagnetic signal and the earth magnetism fingerprint base carry out magnetic orientation matching after obtain the position of current mobile vehicle
Coordinate；
When being switched to earth's magnetic field positioning, worked as after Geomagnetic signal is carried out magnetic orientation matching with the earth magnetism fingerprint base
The position coordinates of preceding mobile vehicle.
In the present embodiment, after switching locating rule according to different zones feature, when being in net region, positioning is advised at this time
It is then switched to inertial navigation positioning, obtains current walking side after carrying out orientation judgement by the azimuth continuously measured
Position, and obtain the position coordinates of current mobile vehicle after Geomagnetic signal and the earth magnetism fingerprint base are carried out magnetic orientation matching, i.e.,
When in net region, need to introduce inertial navigation by judging direction and carry out coordinate reckoning to guarantee the continuity of positioning.Together
When, since indoor environment is there may be magnetic field abnormal area, single judgement can cause misjudgment as a result, therefore the present embodiment
It is middle to be judged using continuous acquisition, azimuth sequence is obtained by the azimuth continuously measured, with this as walking orientation
Foundation.The deterministic process in specific orientation is, firstly, obtaining azimuth from mobile phone sensor, wherein azimuthal to obtain companion simultaneously
With precision series, 4 grades (high, medium and low, unreliable) are generally divided into, when meeting high-precision grade (HIGH), record side in real time
It is other to angle, it is not counted in orientation and judges sequence；Secondly, setting judge step number N (required step number of turning round, under normal circumstances,
Required step number 5 >=N >=1)；Finally, obtain orientation values array by step number section, be passed to judgment method, obtain walking direction as a result,
Specific judgment method is to record azimuth according to step number step, obtain azimuth array correspond to step number section [step-N+1,
step]；Whether changed according to the Orientation differences limits judgment orientation divided in advance later, under normal circumstances, four orientation are drawn
Point, Orientation differences boundary α takes 90, and eight directional divides, then Orientation differences boundary α takes 45；Later according to the azimuth of last time
The last walking orientation of judgement, as current walking orientation.
When being in multidirectional region, locating rule is switched to earth's magnetic field positioning at this time, due to the inflection point side in multidirectional region
Position in fingerprint base acquisition it has been determined that there is no need to by inertial navigation auxiliary judgment orientation, can be directly by Geomagnetic signal and described
Magnetic fingerprint base obtains the position coordinates of current mobile vehicle after carrying out magnetic orientation matching.
Further, described to obtain currently mobile carry after Geomagnetic signal and earth magnetism fingerprint base progress magnetic orientation matching
Before the position coordinates of body, comprising:
Noise reduction pretreatment is carried out to the Geomagnetic signal that measurement obtains.
I.e. in the present embodiment, is not only pre-processed when earth magnetism fingerprint base is acquired by noise reduction and reduces environment and Acquisition Error,
Simultaneously in positioning measurement, the Geomagnetic signal obtained for measurement equally carries out noise reduction pretreatment, comes from environment when eliminating positioning
Random noise or other magnetic fields are abnormal etc. influences.
When it is implemented, the noise reduction pretreatment is to pass through wavelet transformation to carry out decomposed and reconstituted rear output to pending data
Noise reduction data after collecting the earth magnetism fingerprint characteristic of bit space undetermined, obtain matching fingerprint by taking the acquisition of earth magnetism fingerprint base as an example
Sequence S carries out decomposed and reconstituted processing to the matching fingerprint sequence by wavelet transformation in the present embodiment, makes an uproar to reduce signal
Sound, the matching fingerprint sequence S' after noise reduction process are S '=h (f (S, M, c)), and wherein M is pre-selected wavelet series, and c is
Pre-selected wavelet basis function, f are wavelet decomposition function, and h is wavelet reconstruction function.Certainly, in other embodiments, may be used
Selecting the pretreatment mode of other noise reductions reduces environment and noise of equipment.
Preferably, which kind of locating rule no matter be switched to, when carrying out magnetic orientation matching, using dynamic time warping into
Row, this matching way are suitable for the similarity mode of the unequal sequence of length, and in magnetic orientation matching, the test magnetic field of positioning is special
Stride of the sequence due to each one is levied, cadence is different, will form the different sequence of length, in the matching process, needs to find out each
Step corresponds to the optimal match point of fingerprint base, and then goes to carry out matching primitives, and dynamic time warping very good solution is such
Problem improves the accuracy and robustness of positioning.
Another embodiment of the present invention provides a kind of indoor positioning device based on earth's magnetic field, as shown in Fig. 2, device 10 wraps
It includes:
One or more processors 110 and memory 120 are introduced in Fig. 2 by taking a processor 110 as an example, are located
Reason device 110 can be connected with memory 120 by bus or other modes, in Fig. 2 for being connected by bus.
Processor 110 is used for the various control logics of finishing device 10, can be general processor, Digital Signal Processing
Device (DSP), specific integrated circuit (ASIC), field programmable gate array (FPGA), single-chip microcontroller, ARM (Acorn RISC
) or other programmable logic device, discrete gate or transistor logic, discrete hardware component or these components Machine
Any combination.In addition, processor 110 can also be any conventional processors, microprocessor or state machine.Processor 110 can also
To be implemented as calculating the combination of equipment, for example, the combination of DSP and microprocessor, multi-microprocessor, one or more micro- places
Manage device combination DSP core or any other this configuration.
Memory 120 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as the indoor positioning side based on earth's magnetic field in the embodiment of the present invention
The corresponding program instruction of method.Processor 110 by operation be stored in memory 120 non-volatile software program, instruction with
And unit, thereby executing the various function application and data processing of device 10, i.e., in realization above method embodiment based on
The indoor orientation method in earth's magnetic field.
Memory 120 may include storing program area and storage data area, wherein storing program area can store operation dress
It sets, application program required at least one function；Storage data area, which can be stored, uses created data etc. according to device 10.
It can also include nonvolatile memory in addition, memory 120 may include high-speed random access memory, for example, at least one
A disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 120 can
Choosing includes the memory remotely located relative to processor 110, these remote memories can pass through network connection to device 10.
The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more unit is stored in memory 120, when being executed by one or more processor 110, is held
The indoor orientation method based on earth's magnetic field in the above-mentioned any means embodiment of row, for example, executing the side in Fig. 1 described above
Method step S100 to step S300.
The embodiment of the invention provides a kind of non-volatile computer readable storage medium storing program for executing, computer readable storage medium is deposited
Computer executable instructions are contained, which is executed by one or more processors, for example, executing above retouch
Method and step S100 to step S300 in the Fig. 1 stated.
As an example, non-volatile memory medium can include that read-only memory (ROM), programming ROM (PROM), electricity can
Programming ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory can include as external high speed
The random access memory (RAM) of buffer memory.By illustrate it is beautiful unrestricted, RAM can with such as synchronous random access memory (SRAM),
Dynamic ram, (DRAM), synchronous dram (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM
(ESDRAM), many forms of Synchlink DRAM (SLDRAM) and directly Rambus (Lan Basi) RAM (DRRAM) etc
It obtains.The disclosed memory assembly or memory of operating environment described herein be intended to include these and/or it is any
Other are suitble to one or more of the memory of type.
Another embodiment of the invention provides a kind of computer program product, and computer program product includes being stored in
Computer program on non-volatile computer readable storage medium storing program for executing, computer program include program instruction, when program instruction quilt
When processor executes, the processor is made to execute the indoor orientation method based on earth's magnetic field of above method embodiment.For example, holding
Method and step S100 to step S300 in row Fig. 1 described above.
In conclusion in the indoor orientation method and device disclosed by the invention based on earth's magnetic field, which comprises pre-
The earth magnetism fingerprint characteristic for first acquiring the interior space to be positioned constructs earth magnetism after carrying out noise reduction pretreatment to the earth magnetism fingerprint characteristic
Fingerprint base；The initial position for obtaining current mobile vehicle, the area type where the initial position switch to accordingly
Locating rule；The Geomagnetic signal of mobile vehicle present position described in real-time measurement obtains measurement according to corresponding locating rule
Geomagnetic signal matched with the earth magnetism fingerprint base after obtain the location information of current mobile vehicle.The embodiment of the present invention is logical
It crosses and noise reduction process is carried out to earth magnetism fingerprint characteristic gathered in advance, eliminate environment and acquisition bring noise in fingerprint base, simultaneously
Switch corresponding locating rule according to the different area type of the interior space, avoids single locating rule to matching positioning accuracy
Influence, improve positioning accuracy.
Embodiments described above is only schematical, wherein as illustrated by the separation member unit can be or
It may not be and be physically separated, component shown as a unit may or may not be physical unit, it can
It is in one place, or may be distributed over multiple network units.Can select according to actual needs part therein or
Person's whole module achieves the purpose of the solution of this embodiment.
By the description of above embodiment, those skilled in the art can be understood that each embodiment can be by
Software adds the mode of general hardware platform to realize, naturally it is also possible to pass through hardware realization.Based on this understanding, above-mentioned technology
Scheme substantially in other words can be embodied in the form of software products the part that the relevant technologies contribute, the computer
Software product can reside in computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions to
So that a computer electronic equipment (can be personal computer, server or network electronic devices etc.) executes each reality
The method for applying certain parts of example or embodiment.
Among other things, such as " can ', " energy ", " possibility " or " can be with " etc conditional statement unless in addition specific
Ground is stated or is otherwise understood in context as used, is otherwise generally intended to convey particular implementation energy
Including (however other embodiments do not include) special characteristic, element and/or operation.Therefore, such conditional statement is generally
It is not intended to imply that feature, element and/or operation are all needed one or more embodiments or one anyway
Or multiple embodiments must include for determining these features, element in the case where being with or without student's input or prompt
And/or the logic whether operation is included or will be performed in any particular implementation.
The content described in the present description and drawings herein includes being capable of providing the interior based on earth's magnetic field
The example of localization method and device.Certainly, can not for description the disclosure various features purpose come describe element and/or
The combination that each of method is envisioned that, it can be appreciated that, many other combinations and displacement of disclosed feature are
It is possible., it will thus be apparent that can be made without departing from the scope or spirit of the present disclosure to the disclosure respectively
Kind modification.In addition, or in alternative solution, the considerations of other embodiments of the disclosure are to the specification and drawings and such as this
It may be obvious in the practice of the disclosure presented in text.It is intended that showing proposed in the specification and drawings
Example is considered illustrative and not restrictive in all respects.Although using specific term herein, they
The purpose of limitation is used and is not used in general and descriptive sense.
Claims (10)
1. a kind of indoor orientation method based on earth's magnetic field, it is characterised in that, include the following steps:
The earth magnetism fingerprint characteristic for acquiring the interior space to be positioned in advance, to structure after earth magnetism fingerprint characteristic progress noise reduction pretreatment
Build earth magnetism fingerprint base；
The initial position for obtaining current mobile vehicle, the area type where the initial position switch to corresponding positioning
Rule；
The Geomagnetic signal of mobile vehicle present position described in real-time measurement, the earth magnetism for being obtained measurement according to corresponding locating rule
Signal obtains the location information of current mobile vehicle after being matched with the earth magnetism fingerprint base.
2. the indoor orientation method according to claim 1 based on earth's magnetic field, which is characterized in that it is described acquire in advance it is undetermined
The earth magnetism fingerprint characteristic of the position interior space, comprising:
The interior space to be positioned is divided into corresponding area type according to preset path feature, every kind of area type is preset with phase
The collection rule answered；
Earth magnetism fingerprint characteristic acquisition is carried out respectively by the interior space of the corresponding collection rule to different zones type.
3. according to claim 2 based on the indoor orientation method in earth's magnetic field, which is characterized in that described by corresponding acquisition rule
Then earth magnetism fingerprint characteristic acquisition is carried out to the interior space of different zones type respectively, specifically included:
When area type is net region, linear pick-up is carried out according to grid transverse and longitudinal path；
When area type is multidirectional region, broken line acquisition is carried out along path direction.
4. the indoor orientation method according to claim 1 based on earth's magnetic field, which is characterized in that the acquisition is current mobile
The initial position of carrier, the area type where the initial position switch to corresponding locating rule, specifically include:
When the area type where the initial position is net region, locating rule is switched into inertial navigation positioning；
When the area type where the initial position is multidirectional region, locating rule is switched into earth's magnetic field positioning.
5. the indoor orientation method according to claim 4 based on earth's magnetic field, which is characterized in that according to corresponding positioning rule
The location information of current mobile vehicle is obtained after then the Geomagnetic signal that measurement obtains is matched with the earth magnetism fingerprint base, is had
Body includes:
When being switched to inertial navigation positioning, current row is obtained after carrying out orientation judgement by the azimuth continuously measured
Orientation is walked, and obtains the position seat of current mobile vehicle after Geomagnetic signal and the earth magnetism fingerprint base are carried out magnetic orientation matching
Mark；
When being switched to earth's magnetic field positioning, obtain after Geomagnetic signal and the earth magnetism fingerprint base are carried out magnetic orientation matching when Forward
The position coordinates of dynamic load body.
6. the indoor orientation method according to claim 5 based on earth's magnetic field, which is characterized in that it is described by Geomagnetic signal with
The earth magnetism fingerprint base obtain after magnetic orientation matching before the position coordinates of current mobile vehicle, comprising:
Noise reduction pretreatment is carried out to the Geomagnetic signal that measurement obtains.
7. the indoor orientation method according to claim 1 or 6 based on earth's magnetic field, which is characterized in that the noise reduction is located in advance
Reason is to pass through wavelet transformation to carry out decomposed and reconstituted rear output noise reduction data to pending data.
8. a kind of indoor positioning device based on earth's magnetic field, which is characterized in that described device includes at least one processor；With
And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out the described in any item rooms based on earth's magnetic field claim 1-7
Interior localization method.
9. a kind of non-volatile computer readable storage medium storing program for executing, which is characterized in that the non-volatile computer readable storage medium
Matter is stored with computer executable instructions, when which is executed by one or more processors, may make institute
It states one or more processors perform claim and requires the described in any item indoor orientation methods based on earth's magnetic field of 1-7.
10. a kind of computer program product, which is characterized in that the computer program product includes being stored in non-volatile calculating
Computer program on machine readable storage medium storing program for executing, the computer program include program instruction, when described program instruction is processed
When device executes, the processor perform claim is made to require the described in any item indoor orientation methods based on earth's magnetic field of 1-7.
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