CN110332936A - Indoor sport track air navigation aid based on multisensor - Google Patents
Indoor sport track air navigation aid based on multisensor Download PDFInfo
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- CN110332936A CN110332936A CN201910435193.6A CN201910435193A CN110332936A CN 110332936 A CN110332936 A CN 110332936A CN 201910435193 A CN201910435193 A CN 201910435193A CN 110332936 A CN110332936 A CN 110332936A
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- information
- actual path
- reference locus
- multisensor
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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
Abstract
The indoor sport track air navigation aid based on multisensor that the invention discloses a kind of comprising following steps: setting motion path, the motion path includes starting point geographical location information, terminal geographical location information and current context information；It walks along the motion path, acquires the reference locus information of the motion path for the first time, the reference locus information includes reference locus spatial parameter, reference locus straight line parameter, reference locus height parameter and reference locus inflection point parameter；When navigation, user walks along the motion path and acquires actual path information, and the actual path information includes at least actual path spatial parameter；The actual path information and the reference locus information are subjected to similarity analysis and export result, to indicate that user walks.Compared with prior art, to provide effective indoor navigation for user if air navigation aid provided by the invention is using the common device such as multisensor in smart phone.
Description
[technical field]
The invention belongs to wireless communication technology fields, more particularly, to a kind of indoor sport rail based on multisensor
Mark air navigation aid.
[background technique]
Newly emerging force, indoor positioning and the technique study of navigation that indoor positioning and navigation have become in LBS industry have
Considerable progress.
Current research work generally on path planning and optimization problem, and is on the basis of known indoor map
Upper progress needs to carry out a large amount of offline preparation, such as indoor map is drawn, and relies on external equipment.
In this context, a kind of multisensor only utilized in common device such as smart phone is invented, is provided with for user
The air navigation aid of the indoor navigation information of effect.
[summary of the invention]
In view of the drawbacks of the prior art or Improvement requirement, the present invention provides a kind of indoor sport rail based on multisensor
Mark air navigation aid needs to carry out a large amount of offline it is intended that solving traditional indoor navigation method needs known indoor map
Preparation, such as the drafting of indoor ground attached drawing, and the disadvantages of dependence external equipment.
To achieve the goals above, the indoor sport track air navigation aid based on multisensor that the present invention provides a kind of,
The following steps are included:
A kind of indoor sport track air navigation aid based on multisensor, which comprises the following steps:
Step 1: setting motion path, the motion path includes starting point geographical location information, terminal geographical location information
And current context information；
Step 2: it walks along the motion path, acquires the reference locus information of the motion path, the ginseng for the first time
Examining trace information includes that reference locus spatial parameter, reference locus straight line parameter, reference locus height parameter and reference locus turn
Point parameter；
Step 3: when navigation, user walks along the motion path and acquires actual path information, the actual path
Information includes at least actual path spatial parameter；
Step 4: carrying out similarity analysis for the actual path information and the reference locus information and export result,
To indicate that user walks.
Preferably, the actual path information further includes actual path straight line parameter, actual path height parameter and reality
Track inflection point parameter.
Further, the reference locus spatial parameter and the actual path spatial parameter are acquired by magnetometer.
Further, the reference locus straight line parameter and the actual path straight line parameter are acquired by accelerometer.
Further, the reference locus straight line parameter and the actual path straight line parameter are by 0.01Hz~15Hz's
Bandpass filter processing.
Further, the reference locus height parameter and the actual path height parameter are acquired by barometer.
Further, the reference locus height parameter and the actual path height parameter carry out table with air pressure change rate
Sign, threshold value are set as Δ P=0.3hPa, and h is that single layer building is high.
Further, the reference locus inflection point parameter and the actual path inflection point parameter are acquired by gyroscope.
Further, the reference locus inflection point parameter and the actual path inflection point parameter are 1Hz's with cutoff frequency
Low-pass filter is filtered.
Further, setting time parameter generates the reference locus information and actual path information of tool time parameter label.
Further, in the step 4, it is based on the room of dynamic time consolidation (Dynamic Time Warping, DTW)
Interior online location algorithm carries out similarity analysis to the actual path information and the reference locus information, and exports calculating knot
Fruit, user walk according to the calculated result, wherein the indoor tuning on-line algorithm of the dynamic time consolidation includes online dynamic
Time consolidation algorithm and gait behavior restraint algorithm, the online gait bounding algorithm are the online dynamic time consolidation algorithms
Middle determining direction of search step expansion description.
Compared with the relevant technologies, air navigation aid provided by the invention is by utilizing more biographies in common device such as smart phone
Sensor acquires reference locus spatial parameter, reference locus straight line parameter, reference locus height parameter and reference locus inflection point parameter
Establish reference locus information, when navigation, user walks along motion path and acquires actual path information, and actual path information is extremely
It less include actual path spatial parameter, by the actual path information and reference locus information progress similarity analysis and defeated
Out as a result, to indicate that user walks, without additionally by external equipment, solve existing scheme communication distance it is short, dependent on outer
The disadvantages of portion's equipment and placement position require height, equipment requirement is high.
[Detailed description of the invention]
Fig. 1 is the flow chart of the embodiment of the present invention；
Fig. 2 is the unilateral building structure schematic diagram of laboratory building of the embodiment of the present invention；
Fig. 3 is influence schematic diagram of the construction material of the embodiment of the present invention to magnetic field；
Fig. 4 is that the reference locus spatial parameter of the embodiment of the present invention and actual path spatial parameter dynamic time consolidation method are tired out
The three-dimensional view schematic diagram of product distance；
Fig. 5 is that the actual path spatial parameter distributed data dynamic time consolidation method Cumulative Distance of the embodiment of the present invention is unilateral
Visual angle schematic diagram；
Fig. 6 is the reference locus straight line parameter schematic diagram of the embodiment of the present invention；
Fig. 7 is the reference locus height parameter schematic diagram of the embodiment of the present invention；
Fig. 8 is the reference locus inflection point parameter raw data schematic diagram of the embodiment of the present invention；
Fig. 9 is the reference locus inflection point parameter schematic diagram of the embodiment of the present invention；
Figure 10 is the online gait information bounding algorithm flow chart of the embodiment of the present invention；
Figure 11 is the online dynamic time consolidation algorithm flow chart of the embodiment of the present invention.
[specific embodiment]
The present invention will be further explained combined with specific embodiments below.
A kind of indoor sport track air navigation aid based on multisensor is present embodiments provided, as shown in Figure 1 includes such as
Lower step:
Step 1: setting motion path, the motion path includes starting point geographical location information, terminal geographical location information
And current context information.
Referring to Fig. 2, the unilateral building structure schematic diagram of the laboratory building of the embodiment of the present invention.The present embodiment is using an experiment
The unilateral building in building sets motion path, and the current context information is the 20 horizontal and vertical height of floor Teaching Laboratory Building
Distributed intelligence.Office's distribution mainly includes tetra- regions A~D in building in each layer, wherein each region inner room point
Cloth is all similar to a-quadrant.Include in each layer 6 lift ports, has been marked out in Fig. 2.It simultaneously in each layer include 4
A stairs port, wherein main two stairs ports mark out between the area A and the area C, other two fire-fighting stairway mouth distinguishes position
On the left of the region A and on the right side of the region C, do not marked in Fig. 2.It wherein also include an Office Area between B area and the region D
Domain does not mark out.
The start position information is the location information of 20 buildings a-quadrants, and terminal geographical location information is the position in 17 buildings regions D
Confidence breath.
Step 2: it walks along the motion path, acquires the reference locus information of the motion path, the ginseng for the first time
Examining trace information includes that reference locus spatial parameter, reference locus straight line parameter, reference locus height parameter and reference locus turn
Point parameter.
The acquisition of the reference locus information is completed by navigator.
Different interior architecture layouts and structure correspond to different magnetic field strengths, as shown in figure 3, therefore we can lead to
Cross building of the acquisition magnetic field strength completion to reference locus spatial parameter.The reference locus spatial parameter is acquired by magnetometer
Magnetic field strength, in the present embodiment, the reference locus spatial parameter is as shown in Figure 4.To the magnetic field strength in same paths
Similarity is analyzed, and experimental result confirms the stability in time and uniqueness spatially of magnetic field strength.Cause
This Magnetic Field can effectively describe interior space structure.
The reference locus straight line parameter can be acquired by accelerometer.The acceleration that accelerometer measures is through bandpass filtering
After device processing, cyclically-varying maps step number.The measurement of people's acceleration during walking is mainly by acceleration of gravity
It influences and the influence of noise, according to band position feature locating for its frequency, it is highly preferred that using 0.01Hz~15Hz's
Bandpass filter can effectively eliminate gravity and measure the influence of noise.In the present embodiment, the reference locus straight line ginseng
Number is as shown in Figure 6.
The reference locus height parameter is acquired by barometer.It is the air pressure of corresponding height measured by barometer, becomes
Change amount is not susceptible to the inside even from weather such as temperature, humidity, relatively stable.From atmospheric pressure value when walking stair for 20 buildings to 17 buildings and its change
Change as shown in Figure 7.The reference locus height parameter is characterized with air pressure change amount.Its threshold value is set as Δ P=0.3hPa, h
For single layer building height.I.e. whenever detect user present position atmospheric pressure value variable quantity be Δ P=+0.3hPa can determine whether user's floor
Reduce by one layer, when detect atmospheric pressure value variable quantity be Δ P=-0.3hPa can determine that user's floor rising one layer.In this implementation
In example, the reference locus height parameter is as shown in Figure 7.
The reference locus inflection point parameter is acquired by gyroscope.Gyroscope can measure rotation, biased state,
Angular velocity information is provided.In order to remove human body walking, shake and the influence of noise, it is preferable that using cutoff frequency be 1Hz it is low
Bandpass filter is filtered gyro raw data.It turns to and also needs to carry out posture to gyro data before determining to rectify
Positive processing.Gyro raw data of turning in walking process is as shown in Figure 8.The low-pass filter for being 1Hz with cutoff frequency is to top
Spiral shell instrument initial data be filtered after data.In the present embodiment, the reference locus inflection point parameter is as shown in Figure 9.
It is specifically intended that needing setting time in acquiring the reference locus information and actual path information process
Parameter generates the reference locus information and actual path information of tool time parameter label.By the reference locus information following table
Mode is stored as a sequence:
Reference locus information sequence, that is, navigator's sequence is sequence S, and the actual path information sequence, that is, user is real
Timing is classified as sequence T.
Step 3: when navigation, user walks along the motion path and acquires actual path information, the actual path
Information includes at least actual path spatial parameter, the actual path spatial parameter such as Fig. 4, the actual path spatial parameter in 5
It is shown.
Preferably, the actual path information can also include reference locus straight line parameter, actual path height parameter and
Actual path inflection point parameter.
Instrument used in the collection process of the actual path information and data processing, storage mode and the reference
The collection process of trace information is identical.
Step 4: carrying out similarity analysis for the actual path information and the reference locus information and export result,
To indicate that user walks.
In this step, using the indoor tuning on-line algorithm based on dynamic time consolidation to the actual path information with
The reference locus information carries out similarity analysis, and exports calculated result, and user walks according to the calculated result, wherein described
The indoor tuning on-line algorithm of dynamic time consolidation includes online dynamic time consolidation algorithm and online gait behavior restraint algorithm,
Wherein the online gait bounding algorithm is the expansion of the middle determining direction of search step of the online dynamic time consolidation algorithm
Description.
Reference locus information sequence, that is, navigator sequence S, actual path information sequence, that is, user's real time sequence T cost matrix
The building of C:
The Euclidean distance d (t, j) of each point and all the points in sequence T in sequence of calculation S, it is possible thereby to constitute a m
The matrix D of × n.
Matched cost between first point of defined nucleotide sequence S first and sequence T are as follows:
C (1,1)=d (1,1)
Only consider to the right, upwards and tiltedly to go up this when the matching cost of arbitrary point j in arbitrary point t and sequence T in sequence of calculation S
Iteration on three directions.Three groups of costs are calculated on these three directions respectively, take wherein minimum value be this point t and point j
Matching cost c (t, j) can be indicated are as follows:
The cost matrix C and smallest match cost c of sequence S and sequence T can be finally obtained by above-mentioned iterative formula
(t, j).
Original dynamic time consolidation algorithm realizes that pseudocode is as shown in the table:
Wherein 1-8 behavior algorithm initialization process, in order to reasonably calculate the data on the edge cost matrix C, by c
(t, 0) and c (0, j) are defined as infinity, i.e., give up the iteration on direction right and up for these point defaults.9-14
Row as passes through the process of matching cost between arbitrary point j in arbitrary point t and sequence T in iterative calculation sequence S.Wherein dis (S
[t], T[j]) indicate Euclidean distance in sequence S in arbitrary point t and sequence T between the j of arbitrary point.
Specifically, Figure 10 is please referred to, the online dynamic time consolidation algorithm includes the following steps:
(1) online gait behavior restraint algorithm, specific steps are as shown in Figure 10, comprising:
Step 1: input cost matrix C, pointer (t, j), it is sequence T pointer that wherein t, which is the point in sequence S, and j is sequence T
In point be sequence S pointer；
Step 2: the direction of search (t or j)+1 reaches boundary, then corresponding direction is returned to；The direction of search (t or j)+1
Not up to boundary, then investigate navigator and whether user's step number difference reaches boundary；
Step 3: navigator and user's step number difference reach the boundary, then corresponding direction is returned to；Navigator and user walk
Number difference is not up to the boundary, then calculates optimal solution；
Step 4: returning to respective direction.
It realizes that pseudocode is as shown in the table:
(2) online dynamic time consolidation algorithm, specific steps are as shown in figure 11, comprising:
Step 1: list entries S, sequence T.
Step 2: determining the direction of search (t or j)+1 according to the c (t, j) that (1) online gait behavior restraint algorithm calculates.
Step 3: searching for the arm for direction indicator (t or j)+1.
Step 4: importing the new data in user's real time sequence according to described search direction.
Realize that pseudocode is as shown in the table.
Step 5: within a specified time calculating the distance matrix newly put；
Step 6: two sequences are completed, then terminate；Two sequences do not complete, then return step two.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (11)
1. a kind of indoor sport track air navigation aid based on multisensor, which comprises the following steps:
Step 1: setting motion path, the motion path include starting point geographical location information, terminal geographical location information and work as
Preceding environmental information；
Step 2: walking along the motion path, acquires the reference locus information of the motion path for the first time, described to refer to rail
Mark information includes reference locus spatial parameter, reference locus straight line parameter, reference locus height parameter and reference locus inflection point ginseng
Number；
Step 3: when navigation, user walks along the motion path and acquires actual path information, the actual path information
Including at least actual path spatial parameter；
Step 4: the actual path information and the reference locus information are subjected to similarity analysis and exported as a result, to refer to
Show that user walks.
2. the indoor sport track air navigation aid according to claim 1 based on multisensor, which is characterized in that the reality
Border trace information still further comprises actual path straight line parameter, actual path height parameter and actual path inflection point parameter.
3. the indoor sport track air navigation aid according to claim 2 based on multisensor, which is characterized in that the ginseng
It examines trajectory range parameter and the actual path spatial parameter is acquired by magnetometer.
4. the indoor sport track air navigation aid according to claim 2 based on multisensor, which is characterized in that the ginseng
It examines track straight line parameter and the actual path straight line parameter is acquired by accelerometer.
5. the indoor sport track air navigation aid according to claim 4 based on multisensor, which is characterized in that the ginseng
Track straight line parameter and the actual path straight line parameter is examined to handle by the bandpass filter of 0.01Hz~15Hz.
6. the indoor sport track air navigation aid according to claim 2 based on multisensor, which is characterized in that the ginseng
It examines trajectory height parameter and the actual path height parameter is acquired by barometer.
7. the indoor sport track air navigation aid according to claim 6 based on multisensor, which is characterized in that the ginseng
It examines trajectory height parameter and the actual path height parameter is characterized with air pressure change rate, threshold value is set as Δ P=
0.3hPa, h are that single layer building is high.
8. the indoor sport track air navigation aid according to claim 2 based on multisensor, which is characterized in that the ginseng
It examines track inflection point parameter and the actual path inflection point parameter is acquired by gyroscope.
9. the indoor sport track air navigation aid according to claim 8 based on multisensor, which is characterized in that the ginseng
It examines track inflection point parameter and the actual path inflection point parameter is filtered with the low-pass filter that cutoff frequency is 1Hz.
10. the indoor sport track air navigation aid according to claim 1 based on multisensor, which is characterized in that setting
Time parameter generates the reference locus information and actual path information of tool time parameter label.
11. the indoor sport track air navigation aid based on multisensor according to claim 1, which is characterized in that described
In step 4, rail is referred to described to the actual path information using the indoor tuning on-line algorithm based on dynamic time consolidation
Mark information carries out similarity analysis, and exports calculated result, and user walks according to the calculated result, wherein the dynamic time is returned
Whole indoor tuning on-line algorithm includes online dynamic time consolidation algorithm and gait behavior restraint.
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