CN110296699B - Indoor positioning method and device based on geomagnetic field - Google Patents
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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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Abstract
The invention discloses an indoor positioning method and device based on a geomagnetic field, wherein the method comprises the following steps: acquiring geomagnetic fingerprint characteristics of an indoor space to be positioned in advance, and constructing a geomagnetic fingerprint database after performing noise reduction pretreatment on the geomagnetic fingerprint characteristics; acquiring an initial position of a current mobile carrier, and switching to a corresponding positioning rule according to the type of an area where the initial position is located; and measuring the geomagnetic signal of the position of the mobile carrier in real time, and matching the measured geomagnetic signal with the geomagnetic fingerprint database according to a corresponding positioning rule to obtain the position information of the current mobile carrier. According to the embodiment of the invention, noise caused by environment and collection in the fingerprint database is eliminated by carrying out noise reduction treatment on the geomagnetic fingerprint characteristics collected in advance, and meanwhile, the corresponding positioning rules are switched according to different region types of indoor spaces, so that the influence of a single positioning rule on matching positioning accuracy is avoided, and the positioning accuracy is improved.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method and device based on a geomagnetic field.
Background
Nowadays, the demand of people for the position information of indoor scenes gradually increases, the acquisition of the position information is beneficial to the perception and familiarity of people for unknown environments, and this also causes indoor positioning to become a great research hotspot in the present stage, and the indoor positioning technology in the present stage utilizes common signal types in indoor environments, including WiFi, ZigBee, bluetooth, geomagnetic field, ultra wide band, radio frequency and the like, wherein, the geomagnetic field has the advantage of low cost because no hardware auxiliary equipment is required to be laid, and is gradually advocated by various industries.
At present, after the implementation mode of geomagnetic field positioning is mainly for obtaining indoor geomagnetic characteristic fingerprint map of a set, the geomagnetic signal characteristics of each position are recorded and the positioning is completed through pipeline and magnetic field matching, however, error accumulation can be caused due to the fact that the geomagnetic characteristic fingerprint map is excessively used when positioning, and meanwhile, the geomagnetic characteristic fingerprint map also has environment and acquisition errors, so that the geomagnetic field positioning mode cannot give consideration to higher accuracy when being low in cost.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention provides an indoor positioning method and device based on geomagnetic field, and aims to solve the problem in the prior art that the positioning accuracy of geomagnetic field is reduced due to inertial navigation error and fingerprint database acquisition error.
The technical scheme of the invention is as follows:
an indoor positioning method based on a geomagnetic field comprises the following steps:
acquiring geomagnetic fingerprint characteristics of an indoor space to be positioned in advance, and constructing a geomagnetic fingerprint database after performing noise reduction pretreatment on the geomagnetic fingerprint characteristics;
acquiring an initial position of a current mobile carrier, and switching to a corresponding positioning rule according to the type of an area where the initial position is located;
measuring geomagnetic signals of the positions of the mobile carriers in real time, and matching the measured geomagnetic signals with the geomagnetic fingerprint database according to corresponding positioning rules to obtain position information of the current mobile carriers; the corresponding positioning rules comprise inertial navigation positioning and geomagnetic field positioning;
in the indoor positioning method based on the geomagnetic field, the pre-collecting the geomagnetic fingerprint characteristics of the indoor space to be positioned includes:
dividing an indoor space to be positioned into corresponding area types according to preset path characteristics, wherein each area type is preset with a corresponding acquisition rule;
according to corresponding collection rule carry out earth magnetism fingerprint feature collection respectively to the indoor space of different regional types, it specifically includes:
when the area type is a grid area, carrying out straight line acquisition according to a grid horizontal and vertical path;
when the area type is a multidirectional area, carrying out fold line acquisition along the path direction; the acquiring an initial position of a current mobile carrier and switching to a corresponding positioning rule according to a type of an area where the initial position is located specifically includes:
when the area type of the initial position is a grid area, switching a positioning rule to inertial navigation positioning;
and when the type of the area where the initial position is located is a multidirectional area, switching the positioning rule to geomagnetic field positioning.
In the indoor positioning method based on the geomagnetic field, according to a corresponding positioning rule, after matching a measured geomagnetic signal with the geomagnetic fingerprint database, position information of a current mobile carrier is obtained, which specifically includes:
when the inertial navigation positioning is switched, performing azimuth judgment through azimuth angles obtained by continuous measurement, acquiring the current walking azimuth, and performing magnetic positioning matching on a geomagnetic signal and the geomagnetic fingerprint database to obtain the position coordinate of the current mobile carrier;
and when the positioning is switched to geomagnetic field positioning, performing magnetic positioning matching on the geomagnetic signal and the geomagnetic fingerprint database to obtain the position coordinate of the current mobile carrier.
In the geomagnetic-field-based indoor positioning method, before obtaining the position coordinates of the current mobile carrier after performing magnetic positioning matching on the geomagnetic signal and the geomagnetic fingerprint database, the method includes:
and carrying out noise reduction pretreatment on the geomagnetic signal obtained by measurement.
In the indoor positioning method based on the geomagnetic field, the denoising pretreatment is to output denoising data after decomposing and reconstructing the data to be processed through wavelet transformation.
Yet another embodiment of the present invention further provides an indoor positioning device based on geomagnetic field, the device comprising at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described geomagnetic field based indoor positioning method.
Yet another embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the geomagnetic field based indoor positioning method as described above.
Another embodiment of the invention also provides a computer program product comprising a computer program stored on a non-volatile computer readable storage medium, the computer program comprising program instructions which, when executed by a processor, cause the processor to carry out the above-mentioned geomagnetic field based indoor positioning method.
Has the advantages that: compared with the prior art, the embodiment of the invention eliminates the noise caused by environment and collection in a fingerprint library by carrying out noise reduction treatment on the geomagnetic fingerprint characteristics collected in advance, and simultaneously switches the corresponding positioning rules according to different area types of indoor spaces, thereby avoiding the influence of a single positioning rule on the matching positioning accuracy and improving the positioning accuracy.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a preferred embodiment of an indoor positioning method based on geomagnetic field according to the present invention;
fig. 2 is a schematic hardware structure diagram of a preferred embodiment of the indoor positioning device based on geomagnetic field according to the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is described in further detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flowchart illustrating a geomagnetic field based indoor positioning method according to a preferred embodiment of the present invention. As shown in fig. 1, it includes the following steps:
s100, collecting geomagnetic fingerprint characteristics of an indoor space to be positioned in advance, and constructing a geomagnetic fingerprint database after performing noise reduction pretreatment on the geomagnetic fingerprint characteristics;
s200, acquiring an initial position of a current mobile carrier, and switching to a corresponding positioning rule according to the type of an area where the initial position is located;
s300, measuring the geomagnetic signal of the position of the mobile carrier in real time, and matching the measured geomagnetic signal with the geomagnetic fingerprint database according to a corresponding positioning rule to obtain the position information of the current mobile carrier.
In this embodiment, when performing indoor positioning of geomagnetic field, it is necessary to preset and collect geomagnetic fingerprint features of an indoor space to be positioned to construct an indoor geomagnetic feature fingerprint map, that is, a geomagnetic fingerprint library, for example, after writing a corresponding collection application in a mobile phone client, starting the application and obtaining a planned path, starting walking and collecting data according to a collection path displayed on a screen, determining a collection frequency according to a step frequency, preferably, collecting at a constant speed to ensure stability and accuracy of the collected data, specifically, in a further process, taking an average value of geomagnetic field intensities collected in each step interval as a geomagnetic fingerprint feature of the step interval, and after obtaining the geomagnetic fingerprint features, since a collection device and an environment both have certain noise, affecting the collection accuracy of the fingerprint library, constructing the geomagnetic fingerprint library after performing noise reduction preprocessing on the collected geomagnetic fingerprint features, the method is used for subsequent magnetic field matching positioning, and effectively eliminates the influence of the acquisition process and environment on positioning accuracy.
When indoor positioning is carried out, the initial position of the current mobile carrier is obtained firstly, and corresponding positioning rules are switched to according to different types of areas where the initial position is located, so that the positioning rules are more in line with the characteristics of the actual indoor environment; and then measuring the geomagnetic signal of the position of the mobile carrier in real time, matching and positioning the measured geomagnetic signal and the geomagnetic fingerprint database according to the positioning rule corresponding to the current region type to obtain the position information of the current mobile carrier, so that the influence of error accumulation caused by a single positioning rule on the matching and positioning accuracy is avoided, and the positioning accuracy is improved.
Further, gather the earth magnetism fingerprint characteristic of indoor space to be positioned in advance, include:
dividing an indoor space to be positioned into corresponding area types according to preset path characteristics, wherein each area type is preset with a corresponding acquisition rule;
and respectively carrying out geomagnetic fingerprint characteristic acquisition on indoor spaces of different region types according to corresponding acquisition rules.
During specific implementation, as the indoor space has the characteristic of complex environmental path, geomagnetic fingerprint characteristic collection is carried out according to the same collection rule, which possibly causes the problems of low coverage rate and low accuracy of the collection path, in the embodiment, the indoor space to be positioned is divided into corresponding area types according to the preset path characteristics, corresponding collection rules are preset for different area types, and geomagnetic fingerprint characteristics are collected for indoor space distribution of different area types according to the corresponding collection rules, so that the geomagnetic fingerprint characteristics are collected more specifically, the collection path can be planned according to the area characteristics, and the integrity and the accuracy of data collection of the fingerprint database are ensured.
Further, carry out earth magnetism fingerprint feature collection respectively to the indoor space of different regional types according to corresponding collection rule, specifically include:
when the area type is a grid area, carrying out straight line acquisition according to a grid horizontal and vertical path;
and when the area type is a multidirectional area, performing fold line acquisition along the path direction.
In this embodiment, the division of the indoor space is mainly divided into two types, one is an open area, since the paths are adjacent, the area can be divided into a grid shape according to the horizontal and vertical paths, for such grid area, the acquisition rule is set to be that linear acquisition is carried out according to the horizontal and vertical paths of the grid, and the other type of acquisition, such as a single path or an area with the path width smaller than a preset value, e.g., corridors, loops, etc., since the path direction is unambiguous, for such multidirectional areas, the collection rule is set as the broken line collection along the path direction, the specific collection path can be set according to the characteristics of the actual region path, for example, when the inflection point in the region is 0, then, a single path can be acquired in a segmented manner, and when the inflection point is not 0, a plurality of segmented paths can be planned for segmented acquisition, the segmented path needs to cover all inflection points, namely, the path splitting is not carried out at the inflection points, so that the direction correctness is ensured during the acquisition.
Further, the obtaining of the initial position of the current mobile carrier and switching to a corresponding positioning rule according to the type of the area where the initial position is located specifically includes:
when the area type of the initial position is a grid area, switching a positioning rule to inertial navigation positioning;
and when the type of the area where the initial position is located is a multidirectional area, switching the positioning rule to geomagnetic field positioning.
In specific implementation, the initial position of the current mobile carrier is obtained first, and corresponding positioning rules are switched to the corresponding positioning rules according to the regional characteristics in different rooms, so that the positioning requirements of different regions are met under the condition of reducing errors as much as possible. Because the geomagnetic field positioning has the advantages of straight line matching, and single geomagnetic field positioning cannot effectively judge the range due to excessive inflection points in the grid area, the geomagnetic field positioning needs to be switched to an inertial navigation positioning mode to assist the dead zone of magnetic positioning; when the single-path continuous inertial navigation device is in a multi-directional area of a continuous single path, the inflection point position is determined during acquisition, so that matching positioning can be directly carried out in a geomagnetic field positioning mode, inertial navigation positioning assistance is not needed at the moment, and the accumulated error caused by long-term use of inertial navigation is effectively made up.
Further, the matching of the measured geomagnetic signal and the geomagnetic fingerprint database according to the corresponding positioning rule to obtain the position information of the current mobile carrier specifically includes:
when the inertial navigation positioning is switched, performing azimuth judgment through azimuth angles obtained by continuous measurement, acquiring the current walking azimuth, and performing magnetic positioning matching on a geomagnetic signal and the geomagnetic fingerprint database to obtain the position coordinate of the current mobile carrier;
and when the positioning is switched to geomagnetic field positioning, performing magnetic positioning matching on the geomagnetic signal and the geomagnetic fingerprint database to obtain the position coordinate of the current mobile carrier.
In the embodiment, after positioning rules are switched according to different regional characteristics, when the mobile terminal is in a grid region, the positioning rules are switched to inertial navigation positioning, azimuth judgment is carried out through azimuth angles obtained through continuous measurement, the current walking azimuth is obtained, magnetic positioning matching is carried out on geomagnetic signals and a geomagnetic fingerprint library, the position coordinate of a current mobile carrier is obtained, namely when the mobile terminal is in the grid region, inertial navigation is introduced through judgment directions to carry out coordinate calculation so as to ensure the continuity of positioning, meanwhile, due to the fact that an abnormal magnetic field region possibly exists in an indoor environment, a judgment error result can be caused through single judgment, in the embodiment, continuous acquisition judgment is adopted, an azimuth sequence is obtained through the azimuth angles obtained through continuous measurement and is used as a basis of the walking azimuth angles, the judgment process of the specific azimuth is that firstly, the azimuth angles are obtained from a mobile phone sensor, wherein the acquisition of the azimuth angles is simultaneously accompanied by accuracy grade numbers, the number of steps is generally divided into 4 (HIGH, medium, low and unreliable), when the HIGH accuracy grade (HIGH accuracy grade) is met, real-time direction angles are recorded, and the other steps are divided into azimuth judgment sequences, secondly, the number of steps is set as a judgment step number N (step number) needed for judging whether the step number N is equal to step number, the step number of.
When the mobile carrier is in a multidirectional area, the positioning rule is switched to geomagnetic field positioning, and the orientation of the inflection point in the multidirectional area is determined during acquisition in a fingerprint database, so that the orientation is not required to be judged in an inertial navigation mode, and the geomagnetic signal and the geomagnetic fingerprint database can be directly subjected to magnetic positioning matching to obtain the position coordinate of the current mobile carrier.
Further, before obtaining the position coordinate of the current mobile carrier after performing magnetic positioning matching on the geomagnetic signal and the geomagnetic fingerprint database, the method includes:
and carrying out noise reduction pretreatment on the geomagnetic signal obtained by measurement.
That is, in this embodiment, not only the environment and the acquisition error are reduced by the noise reduction preprocessing during the acquisition of the geomagnetic fingerprint database, but also the noise reduction preprocessing is performed on the measured geomagnetic signal during the positioning measurement, thereby eliminating the influence of random noise or other magnetic field abnormalities from the environment during the positioning.
In specific implementation, the denoising preprocessing is to perform decomposition and reconstruction on data to be processed through wavelet transformation and output denoised data, taking acquisition of a geomagnetic fingerprint library as an example, and after acquiring geomagnetic fingerprint characteristics of a space to be located, obtaining a matching fingerprint sequence S. Of course, in other embodiments, other pre-processing manners for noise reduction may be selected to reduce the environmental and device noises.
Preferably, no matter which positioning rule is switched to, when magnetic positioning matching is carried out, dynamic time warping is adopted, the matching mode is suitable for similarity matching of sequences with unequal lengths, in the magnetic positioning matching, the positioned test magnetic field characteristic sequences can form sequences with different lengths due to the fact that steps of each person are different in frequency, in the matching process, the best matching point corresponding to a fingerprint library in each step needs to be found out, matching calculation is further carried out, the problems are well solved through dynamic time warping, and the positioning accuracy and robustness are improved.
Another embodiment of the present invention provides an indoor positioning device based on geomagnetic field, as shown in fig. 2, the device 10 includes:
one or more processors 110 and a memory 120, where one processor 110 is illustrated in fig. 2, the processor 110 and the memory 120 may be connected by a bus or other means, and the connection by the bus is illustrated in fig. 2.
The memory 120, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the geomagnetic-field-based indoor positioning method in the embodiments of the present invention. The processor 110 executes various functional applications and data processing of the apparatus 10, namely, implements the geomagnetic-field-based indoor positioning method in the above-described method embodiments, by executing the nonvolatile software programs, instructions and units stored in the memory 120.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an application program required for operating the device, at least one function; the storage data area may store data created according to the use of the device 10, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 120 optionally includes memory located remotely from processor 110, which may be connected to device 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
One or more units are stored in the memory 120, which when executed by the one or more processors 110, perform the geomagnetic field based indoor positioning method in any of the above method embodiments, e.g. perform the above described method steps S100 to S300 in fig. 1.
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, for example, to perform method steps S100-S300 of fig. 1 described above.
By way of example, non-volatile storage media can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), electrically erasable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in many forms such as Synchronous RAM (SRAM), dynamic RAM, (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The disclosed memory components or memory of the operating environment described herein are intended to comprise one or more of these and/or any other suitable types of memory.
Another embodiment of the invention provides a computer program product comprising a computer program stored on a non-volatile computer readable storage medium, the computer program comprising program instructions which, when executed by a processor, cause the processor to perform the geomagnetic field based indoor positioning method of the above method embodiments. For example, the method steps S100 to S300 in fig. 1 described above are performed.
In summary, in the indoor positioning method and apparatus based on geomagnetic field disclosed in the present invention, the method includes: acquiring geomagnetic fingerprint characteristics of an indoor space to be positioned in advance, and constructing a geomagnetic fingerprint database after performing noise reduction pretreatment on the geomagnetic fingerprint characteristics; acquiring an initial position of a current mobile carrier, and switching to a corresponding positioning rule according to the type of an area where the initial position is located; and measuring the geomagnetic signal of the position of the mobile carrier in real time, and matching the measured geomagnetic signal with the geomagnetic fingerprint database according to a corresponding positioning rule to obtain the position information of the current mobile carrier. According to the embodiment of the invention, noise caused by environment and collection in the fingerprint database is eliminated by carrying out noise reduction treatment on the geomagnetic fingerprint characteristics collected in advance, and meanwhile, the corresponding positioning rules are switched according to different region types of indoor spaces, so that the influence of a single positioning rule on matching positioning accuracy is avoided, and the positioning accuracy is improved.
The above-described embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. With this in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer electronic device (which may be a personal computer, a server, or a network electronic device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Conditional language such as "can," "might," or "may" is generally intended to convey that a particular embodiment can include (yet other embodiments do not include) particular features, elements, and/or operations, among others, unless specifically stated otherwise or otherwise understood within the context as used. Thus, such conditional language is not generally intended to imply that features, elements, and/or operations are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without student input or prompting, whether such features, elements, and/or operations are included or are to be performed in any particular embodiment.
What has been described herein in the specification and drawings includes examples that can provide a geomagnetic field based indoor positioning method and apparatus. It will, of course, not be possible to describe every conceivable combination of components and/or methodologies for purposes of describing the various features of the disclosure, but it can be appreciated that many further combinations and permutations of the disclosed features are possible. It is therefore evident that various modifications can be made to the disclosure without departing from the scope or spirit thereof. In addition, or in the alternative, other embodiments of the disclosure may be apparent from consideration of the specification and drawings and from practice of the disclosure as presented herein. It is intended that the examples set forth in this specification and the drawings be considered in all respects as illustrative and not restrictive. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (6)
1. An indoor positioning method based on a geomagnetic field is characterized by comprising the following steps:
acquiring geomagnetic fingerprint characteristics of an indoor space to be positioned in advance, and constructing a geomagnetic fingerprint database after performing noise reduction pretreatment on the geomagnetic fingerprint characteristics;
acquiring an initial position of a current mobile carrier, and switching to a corresponding positioning rule according to the type of an area where the initial position is located;
measuring geomagnetic signals of the positions of the mobile carriers in real time, and matching the measured geomagnetic signals with the geomagnetic fingerprint database according to corresponding positioning rules to obtain position information of the current mobile carriers; the corresponding positioning rules comprise inertial navigation positioning and geomagnetic field positioning;
gather in advance and wait to fix a position the terrestrial magnetism fingerprint characteristic of indoor space, include:
dividing an indoor space to be positioned into corresponding area types according to preset path characteristics, wherein each area type is preset with a corresponding acquisition rule;
according to corresponding collection rule carry out earth magnetism fingerprint feature collection respectively to the indoor space of different regional types, it specifically includes:
when the area type is a grid area, carrying out straight line acquisition according to a grid horizontal and vertical path;
when the area type is a multidirectional area, carrying out fold line acquisition along the path direction;
the acquiring an initial position of a current mobile carrier and switching to a corresponding positioning rule according to a type of an area where the initial position is located specifically includes:
when the area type of the initial position is a grid area, switching a positioning rule to inertial navigation positioning;
and when the type of the area where the initial position is located is a multidirectional area, switching the positioning rule to geomagnetic field positioning.
2. The indoor positioning method based on the geomagnetic field according to claim 1, wherein matching the measured geomagnetic signal with the geomagnetic fingerprint database according to a corresponding positioning rule to obtain the position information of the current mobile carrier specifically comprises:
when the inertial navigation positioning is switched, performing azimuth judgment through azimuth angles obtained by continuous measurement, acquiring the current walking azimuth, and performing magnetic positioning matching on a geomagnetic signal and the geomagnetic fingerprint database to obtain the position coordinate of the current mobile carrier;
and when the positioning is switched to geomagnetic field positioning, performing magnetic positioning matching on the geomagnetic signal and the geomagnetic fingerprint database to obtain the position coordinate of the current mobile carrier.
3. The indoor positioning method based on geomagnetic field according to claim 2, wherein before obtaining the position coordinates of the current mobile carrier after performing magnetic positioning matching on the geomagnetic signal and the geomagnetic fingerprint database, the method comprises:
and carrying out noise reduction pretreatment on the geomagnetic signal obtained by measurement.
4. The indoor positioning method based on the geomagnetic field according to claim 1 or 3, wherein the denoising pre-processing is to output the denoising data after decomposing and reconstructing the data to be processed by wavelet transform.
5. An indoor geomagnetic field based positioning apparatus, wherein the apparatus comprises at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the geomagnetic based indoor positioning method of any one of claims 1 to 4.
6. A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the geomagnetic based indoor positioning method as recited in any one of claims 1 to 4.
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| CN112504267B (en) * | 2020-11-24 | 2023-03-14 | 哈尔滨工业大学（深圳） | Magnetic fingerprint extraction method, device, system and medium based on magnetic dipole field |
| CN113645561A (en) * | 2021-06-30 | 2021-11-12 | 南京邮电大学 | Self-adaptive switching positioning method based on indoor area division |
| CN114783004A (en) * | 2022-04-25 | 2022-07-22 | 北京度位科技有限公司 | Method, apparatus, device and medium for fingerprint positioning and processing fingerprint data |
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| CN105928512A (en) * | 2016-04-26 | 2016-09-07 | 杭州欣晟达信息技术有限公司 | Geomagnetic field-based indoor positioning method |
| CN109348428A (en) * | 2018-12-04 | 2019-02-15 | 重庆邮电大学 | A kind of fingerprint base fast construction method of bluetooth indoor locating system |
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