CN110645972B - Indoor direction optimization method based on MEMS - Google Patents
Indoor direction optimization method based on MEMS Download PDFInfo
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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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Abstract
An indoor direction optimization method based on an MEMS (Micro-Electro-Mechanical System) belongs to the technical field of indoor and outdoor positioning, course information is calculated indoors by using magnetic field information, and accuracy of terminal course information cannot be accurately judged due to influence of ferromagnetic substances in a building. The gyroscope calculates the heading angle without being influenced by the outside, but the error is accumulated along with the time. Based on the advantages and disadvantages of the gyroscope and the magnetic heading, a combined heading algorithm is designed. The method can effectively inhibit the accumulated error of the gyroscope, judge the reliability of the magnetic heading information including but not limited to the magnetic heading information and obtain more accurate heading angle information. When the y axis of the MEMS chip is vertical, a coordinate system rotation algorithm of the carrier is designed, the method avoids the problem of large pitch angle fluctuation caused by instability of an arctangent function near 90 degrees, and further improves course angle precision of combined solution with a magnetometer.
Description
Technical Field
The invention belongs to the technical field of indoor and outdoor positioning.
Background
Inertial devices become standard configurations of most intelligent devices such as mobile phones and flat panels, and the inertial devices are widely applied to solving course angles by using acceleration and magnetometers. However, in the indoor environment, due to the influence of the ferromagnetic substance in the building, the magnetic heading error is large, and therefore when the inertial navigation technology is used, the final positioning result deviates from the real position greatly due to the direction error.
The invention combines the characteristics that the gyroscope is not influenced by external environment and the error is accumulated, combines the acceleration, the gyroscope and the third-party course angle to judge the course, improves the reliability and the accuracy of the indoor course angle, and reduces the positioning error caused by inaccurate course angle caused by external interference or the self error of a device. In addition, when the y axis of a carrier coordinate System of an MEMS (Micro-Electro-Mechanical System) chip is vertical, the acceleration meter and the magnetometer are used for resolving the big fluctuation of the course angle, the coordinate rotation algorithm of the carrier is provided, the fluctuation of the magnetic course angle is reduced, and the precision of the course angle is improved.
Disclosure of Invention
The invention provides an indoor direction optimization method based on MEMS, which combines advantages and disadvantages of a gyroscope and a third party course angle, can inhibit accumulated errors of the gyroscope, can judge the accuracy of the current third party course angle, and improves the precision and reliability of indoor direction.
The detailed resolving process of the method is as follows:
step 01: reading IMU sensor data including triaxial accelerometer data, triaxial gyroscope data and triaxial magnetometer data, and entering step 02.
Step 02: judging whether the y axis of the carrier coordinate system is in an upright state, and entering step 03 when the y axis of the carrier coordinate system is in the upright state; otherwise, go to step 04. Step 03: rotating carrier coordinate system, rotating matrix
Then the original triaxial acceleration data (a) is processedx,ay,az) Triaxial gyroscope data (w)x,wy,wz) The following treatments were carried out:
when the third party course angle is obtained by resolving magnetometer data, the original three-axis magnetometer data (m) is obtainedx,my,mz) The carrier coordinate system rotation process is also performed, and the calculation formula is as follows:
and after the carrier coordinate system rotation processing is completed, the step 04 is performed.
Step 04: calculating a pitch angle theta and a roll angle gamma by using the rotated acceleration, and calculating a pitch angle theta and a roll angle gamma by using the three-axis acceleration data and the three-axis magnetometerData resolution third party heading angle phimagThen, step 05 is entered.
Step 05: initial values are given to the gyroscope by utilizing a pitch angle, a roll angle and a third-party course angle which are calculated by acceleration, and then the output course angle phi of the gyroscope is calculated through integrationgyroAnd proceeds to step 06 and step 07.
Step 06: recording the time t of giving an initial value to the gyroscopeoAnd the current time tnowIf (t)now-to)>And starting a time threshold value delta T of third-party course angle correction, and entering a step 10, otherwise, entering a step 11.
Step 07: solving for TwAnd entering step 08 according to the difference angle between the maximum value and the minimum value of the third-party heading angle in the time window.
Step 08: judging whether the difference angle between the maximum value and the minimum value of the gyroscope output course angle is smaller than a threshold value delta Cor or not, and if the difference angle is smaller than the threshold value delta Cor, judging that the gyroscope output course angle is in straight line walking, and entering the step 09; otherwise step 10 is entered.
Step 09: estimating the direction plus or minus of the gyro drift and the speed delta, using said TwThe difference value delta phi of the mean value of the gyroscope output course angles of the last second and the mean value of the gyroscope output course angles of the first second in the time windowgyroThe positive and negative directions and the speed of the gyroscope drift at the moment are estimated according to the following formula:
step 10: according to the condition | Φmag-(Φgyro-δ*(tnow-to))|<And delta A judges whether a third-party course angle is used for correcting the current gyroscope output course angle, wherein the formula is as follows: phimagIs the third party heading angle, phigyroOutputting a heading angle for the gyroscope, delta being a direction plus-minus sum of a velocity of the gyroscope offset, tnowIs the current time, toWhen the initial value is given to the gyroscope, delta A is the allowable maximum angle error of third-party course angle correction; when the condition is satisfied, the process proceeds to step 12,otherwise step 11 is entered.
Step 11: and taking the output heading angle of the gyroscope as a final heading angle, and entering the step 15.
Step 12: and correcting the current gyroscope output course angle by using the third-party course angle, and assigning initial values to the gyroscope again by using the pitch angle and the roll angle which are calculated by the accelerated speed and the third-party course angle.
Step 13: the current time tnowUpdating the time t of the initial value given to the gyroscopeo。
Step 14: and taking the third-party heading angle as a final heading angle.
Step 15: and outputting the final heading angle.
The invention aims to improve the course angle resolving accuracy of indoor navigation positioning and obtain a more accurate course angle by utilizing an MEMS chip.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention adopts the technical method of rotating the carrier coordinate system, can effectively avoid the problem that the heading angle fluctuation is larger by using the acceleration and the magnetometer when the y axis of the carrier coordinate system is vertical, and improves the resolving precision of the magnetic heading angle.
(2) The invention judges whether the third party course angle is in the accurate range according to the allowed maximum angle error, the positive and negative directions and the speed of the gyroscope drifting and the output course angle of the gyroscope, thereby effectively inhibiting the gyroscope drifting and improving the reliability of the third party course angle, thereby achieving the effect of accurately estimating the course.
Drawings
Fig. 1 is a schematic flow chart of a MEMS-based indoor direction optimization method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto. Fig. 1 is a schematic flow chart of a MEMS-based indoor direction optimization method according to an embodiment of the present invention.
In this embodiment, a user holds a smart phone (the terminal includes an acceleration, a magnetometer, and a gyroscope), the sampling frequency of the acceleration and the magnetometer is 20Hz, the sampling frequency of the gyroscope is 50Hz, and a magnetic heading angle calculated by using triaxial acceleration data and triaxial magnetometer data is used as a third-party heading angle.
The proposed values of the parameters related to the setting of the embodiment are as follows: time window Tw＝[10s,15s]The time threshold Δ T for initiating third party course angle correction is [50s,80s ]]The maximum angle error Δ a is allowed to be [5 °,15 ° ]]Determining the time window TwThreshold Δ Cor of whether or not the vehicle travels straight is [15 °,20 °]。
The basic workflow of this embodiment includes the following:
(1) and reading original triaxial acceleration, triaxial magnetometer and triaxial gyroscope data of the smart phone.
(2) And judging whether the y axis of the carrier coordinate system is vertical or not according to the triaxial acceleration data.
(3) And if the three-axis gyroscope is vertical, rotating the carrier coordinate system for the original three-axis acceleration, the three-axis magnetometer and the three-axis gyroscope data, otherwise, not processing.
(4) Utilize triaxial acceleration, triaxial magnetometer data after the rotation to solve attitude angle, include:
the pitch angle theta and the roll angle gamma are calculated by utilizing the rotated acceleration, and the third-party course angle phi is calculated by utilizing the three-axis acceleration data and the three-axis magnetometer datamagAnd initial values are given to the gyroscope by the pitch angle, the roll angle and the third-party course angle.
(5) And integrating to obtain the output course angle of the gyroscope.
(6) And judging whether the current gyroscope output course angle is corrected by using the magnetic course after the time threshold for starting the correction of the magnetic course angle is met, and otherwise, directly outputting the gyroscope output course angle.
(7) And meanwhile, judging whether the straight-line walking condition is met, and if so, calculating the positive and negative directions and the speed of the drift of the gyroscope.
(8) And reversely deducing the accurate range of the magnetic heading angle according to the positive and negative directions and the speed of the drift of the gyroscope and the current heading angle, if the magnetic heading angle meets the accurate range, re-assigning an initial value to the gyroscope by using the magnetic heading angle, outputting the numerical value of the magnetic heading angle as a final heading angle, and otherwise, directly outputting the numerical value of the heading angle output by the gyroscope as the final heading angle.
Claims (4)
1. An indoor direction optimization method based on MEMS is characterized by comprising the following steps:
(1) judging the state of the MEMS chip, and solving the zero offset of the gyroscope when the MEMS chip is detected to be static;
(2) when the Y axis of the MEMS chip is detected to be vertical, the carrier coordinate system is rotated, the pitch angle and the roll angle are obtained according to the acceleration data after rotation, and the third-party course angle phi is obtained according to the acceleration and magnetometer datamagAn initial value is given to the gyroscope, and the output course angle of the gyroscope is obtained according to the data integration of the gyroscope;
(3) finding TwJudging whether the third party walks in a straight line or not according to the difference angle between the maximum value and the minimum value of the third party course angle in the time window, and if the angle is not the straight line<If the threshold value delta Cor is a straight line walking, estimating the positive and negative directions and the speed of the drift of the gyroscope, otherwise, performing non-straight line walking;
(4) according to the maximum allowable angle error, the positive and negative directions and the speed of the gyroscope drift and the output course angle of the gyroscope, according to the condition of phimag-(Φgyro-δ*(tnow-to))|<And delta A judges whether the third-party course angle is in an accurate range, wherein the formula is as follows: phigyroFor the gyroscope output course angle, delta is the direction plus-minus and speed of the gyroscope drift, tnowIs the current time, toAt the moment of assigning a value to the gyroscope, delta A is an allowable maximum angle error corrected by using a third-party course angle; if the third-party course angle is in the range, the pitch angle and the roll angle calculated by the acceleration and the course angle provided by the third party are used as the attitude angle of the current terminal to give an initial value to the gyroscope, otherwise, the gyroscope is directly used for outputting the course angle.
2. The method of claim 1, wherein detecting that a y-axis of the MEMS chip is standing comprises:
comparing the three-axis acceleration data (a) output by the MEMS chipx,ay,az) If ay|＞|axI and | ay|＞|azIf yes, the y axis of the current chip is considered to be in a vertical state.
3. The indoor MEMS-based direction optimization method of claim 1, wherein the carrier coordinate system rotation is performed and comprises:
upon detection of y-axis erection of the MEMS chip, raw three-axis acceleration data (a)x,ay,az) Triaxial gyroscope data (w)x,wy,wz) And carrying out carrier coordinate system rotation processing, wherein the calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
is a rotation matrix;
when the third-party course angle is obtained by resolving acceleration data and magnetometer data, original three-axis magnetometer data (m) are obtainedx,my,mz) The carrier coordinate system rotation process is also performed, and the calculation formula is as follows:
4. the indoor MEMS-based direction optimization method of claim 1, wherein estimating the direction plus or minus and the speed of the gyroscope drift comprises:
integrating the data of the rotated three-axis gyroscope to obtain the output course angle phi of the gyroscopegyro(ii) a When the straight line walking is satisfied, T is solvedwThe difference value delta phi of the output course angle mean value of the gyroscope in the last second and the output course angle mean value in the first second in the time windowgyroEstimating the positive and negative directions and the speed delta of the gyro drift at the moment, and the calculation formula is
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Denomination of invention: A MEMS based indoor directional optimization method Effective date of registration: 20231226 Granted publication date: 20210824 Pledgee: China Construction Bank Corporation Beijing Suzhou bridge sub branch Pledgor: BEIJING JINKUN INNOVATION TECHNOLOGY CO.,LTD. Registration number: Y2023110000548 |
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