CN110779513B - Indoor public service place positioning system - Google Patents
Indoor public service place positioning system Download PDFInfo
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- CN110779513B CN110779513B CN201911028605.0A CN201911028605A CN110779513B CN 110779513 B CN110779513 B CN 110779513B CN 201911028605 A CN201911028605 A CN 201911028605A CN 110779513 B CN110779513 B CN 110779513B
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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
- G01C21/04—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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention provides an indoor public service place positioning system, which comprises a geomagnetic matching algorithm module; the system comprises a geomagnetic matching algorithm module, a data preprocessing module, an INS module and a mobile terminal, wherein the geomagnetic matching algorithm module is used for providing geomagnetic reference data, the data preprocessing module is used for providing geomagnetic measurement data, the INS module is used for providing inertial positioning positions for the geomagnetic matching algorithm module, and the mobile terminal is used for displaying the operation result of the geomagnetic matching algorithm module. The problems that the geomagnetic information positioning in the existing system is small in acquired information dimension and low in precision, a moving magnetic track matching algorithm is complex and the search calculation amount is large are solved.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a positioning system for an indoor public service place.
Background
Because the magnetic field in the room can be cut and distorted by the metal structure mainly made of the steel-concrete structure in the room, the data of the electronic compass can be obtained although the three-component data of the magnetic field of each point cannot be obtained. The electronic compass will be influenced by the magnetic field and will also form a certain fingerprint.
Indoor positioning is one of the core technologies of unprecedented artificial intelligence, and plays a significant role in the coming artificial intelligence era. The development of effective indoor positioning new technology is a research hotspot in the industrial and academic circles, such as indoor visual positioning service technology developed by google, i bluetooth Beacon indoor positioning technology based on low power consumption bluetooth promoted by apple, and indoor positioning scheme based on magnetic field matching promoted by IndoorAtlas corporation of the Baidu portable Finland. However, it is still very challenging to realize accurate, reliable and real-time indoor positioning under the influence of indoor complex environment, spatial layout, variable topology, etc. and to meet various positioning requirements. At present, with the popularization of smart phones and the development of micro-electromechanical system technology, the smart phones are internally provided with various sensors and support abundant radio frequency signals, and can provide different positioning sources.
The chinese patent publication No. CN106092093B discloses an indoor positioning method based on a geomagnetic fingerprint matching algorithm, which includes: step 1, collecting a geomagnetic fingerprint time sequence of a critical path of a region to be positioned; step 2, mapping the acquired geomagnetic fingerprint time sequence and the map coordinate into a new sequence and storing the new sequence into a geomagnetic fingerprint database; step 3, acquiring geomagnetic subsequences to be matched, and screening out corresponding candidate matching sequences according to the change trend of the sequences; and 4, calculating the dynamic time warping distance between the geomagnetic subsequence to be matched and all the candidate matching sequences, and finally mapping the dynamic time warping distance to corresponding map coordinates. The patent uses geomagnetic information for positioning, and has the problems of small acquired information dimension, low precision, complex moving track matching algorithm and large search calculation amount.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an indoor public service place positioning system, which aims to solve the technical problems that the geomagnetic information positioning is used in the prior art, the acquired information dimension is small, the precision is low, the moving magnetic track matching algorithm is complex, and the search calculation amount is large.
In order to achieve the purpose, the invention provides an indoor public service place positioning system, which comprises a geomagnetic matching algorithm module; the system comprises a geomagnetic matching algorithm module, a data preprocessing module, an INS module and a mobile terminal, wherein the geomagnetic database module is used for providing geomagnetic reference data for the geomagnetic matching algorithm module, the data preprocessing module is used for providing geomagnetic measurement data for the geomagnetic matching algorithm module, the INS module is used for providing inertial positioning positions for the geomagnetic matching algorithm module, and the mobile terminal is used for displaying the operation result of the geomagnetic matching algorithm module, and the geomagnetic matching algorithm module feeds errors back to the INS module.
Preferably, the geomagnetic database module comprises:
a) the method comprises the following steps Determining an indoor site, and inputting a designed indoor site map into a network terminal;
b) the method comprises the following steps A tester holds the mobile terminal by hand to select a field initial position, and deploys a plurality of Bluetooth Beacons in a corresponding initial position area; each Bluetooth Beacon comprises a coordinate and a weight attribute and is well recorded in the network terminal;
c) the method comprises the following steps The tester holds the mobile terminal by hand and moves by l units, each Bluetooth Beacon correspondingly moves based on the moving direction and distance of the user, and updates the coordinates of each particle, and records the coordinates in the network terminal;
d) the method comprises the following steps Comparing the magnetic induction intensity before and after each particle moves with the magnetic induction intensity collected by a tester before and after the particles move, and observing the similarity degree;
e) the method comprises the following steps Updating the weight of the Bluetooth Beacon; updating the weight of the Bluetooth Beacon according to the similarity degree, improving the weight of the Bluetooth Beacon with large similarity degree, and reducing the weight of the Bluetooth Beacon with small similarity degree;
f) the method comprises the following steps Respectively carrying out weighted summation on the abscissa and the ordinate of all Bluetooth Beacon coordinates to obtain the current estimated position of the tester;
g) the method comprises the following steps Comparing the estimated position with the position of the set error range; if the Bluetooth Beacon is not in the error range, returning to the step b to continue to execute, if the Bluetooth Beacon is in the error range, performing importance resampling on all the current Bluetooth Beacon, and then turning to the step c to continue to execute until a tester finishes the test of the whole venue;
h) the method comprises the following steps The Bluetooth Beacon position and the weight of importance resampling are well in one-to-one correspondence with the indoor site map of the network terminal.
Preferably, the data preprocessing module removes high-frequency noise in the data by using butterworth low-pass filtering.
Preferably, the INS module is a main navigation system and can autonomously complete a navigation task; the positioning error characteristics of the INS module determine the characteristics of the system state equation.
Preferably, the mobile terminal is a mobile phone with geomagnetic detection, Bluetooth detection and WIFI receiving functions.
Compared with the prior art, the indoor public service place positioning terminal provided by the invention has the beneficial effects that: the data preprocessing module can remove noise in the data, correct inconsistency and improve the accuracy and efficiency of the designed distance measurement data mining algorithm. The INS is an autonomous navigation system, completely depends on airborne equipment to autonomously complete navigation tasks, does not have any optical and electrical connection with the outside, and therefore is good in concealment and free of limit of meteorological conditions. The data of earth magnetism database is accurate, makes things convenient for the later stage to fix a position.
The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a block diagram illustrating the operation of an indoor public service location positioning system according to an embodiment of the present invention.
Fig. 2 is a diagram of a similarity degree comparison algorithm.
In the figure: 1. a geomagnetic matching algorithm module; 2. a geomagnetic database module; 3. a data preprocessing module; 4. an INS module; 5. a mobile terminal.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1, an embodiment of the present invention provides an indoor public service location positioning system, including a geomagnetic matching algorithm module 1. The system further comprises a geomagnetic database module 2 for providing geomagnetic reference data for the geomagnetic matching algorithm module 1, a data preprocessing module 3 for providing geomagnetic measurement data for the geomagnetic matching algorithm module 1, an INS module 4 for providing inertial positioning positions for the geomagnetic matching algorithm module 1, and a mobile terminal 5 for displaying operation results of the geomagnetic matching algorithm module 1.
The geomagnetic database module 2 comprises the following manufacturing steps: a) the method comprises the following steps Determining an indoor site, and inputting a designed indoor site map into a network terminal; b) the method comprises the following steps A tester holds the mobile terminal by hand to select a field initial position, and deploys a plurality of Bluetooth Beacons in a corresponding initial position area; each Bluetooth Beacon comprises a coordinate and a weight attribute and is well recorded in the network terminal; c) the method comprises the following steps The tester holds the mobile terminal by hand and moves for l unit lengths, each Bluetooth Beacon correspondingly moves based on the moving direction and distance of the user, the coordinate of each Bluetooth Beacon is updated, and the coordinate is recorded in the network terminal; d) the method comprises the following steps Comparing the magnetic induction intensity before and after the movement of each Bluetooth Beacon with the magnetic induction intensity collected by a tester before and after the movement, and observing the similarity degree; e) the method comprises the following steps Updating the weight of the Bluetooth Beacon; updating the weight of the Bluetooth Beacon according to the similarity degree, improving the weight of the Bluetooth Beacon with large similarity degree, and reducing the weight of the Bluetooth Beacon with small similarity degree; f) the method comprises the following steps Respectively carrying out weighted summation on the abscissa and the ordinate of all Bluetooth Beacon coordinates to obtain the current estimated position of the tester; g) the method comprises the following steps Comparing the estimated position with the position of the set error range; if the Bluetooth Beacon is not in the error range, returning to the step b to continue to execute, if the Bluetooth Beacon is in the error range, performing importance resampling on all the current Bluetooth Beacon, and then turning to the step c to continue to execute until a tester finishes the test of the whole venue; h) the method comprises the following steps The Bluetooth Beacon position and the weight of importance resampling are well in one-to-one correspondence with the indoor site map of the network terminal. Specifically, through the tape measure specifically, paste bluetooth Beacon in preset position, ceiling or wall all can. And receiving the geomagnetic signal, the Bluetooth signal and the WIFI signal through the mobile phone. And calculating the similarity between the Bluetooth Beacon and the detection personnel based on the magnetic induction intensity before and after the movement of the detection personnel and the actually detected positions before and after the movement of the Bluetooth Beacon.
The similarity comparison algorithm is Dynamic Time Warping (DTW) and is used for matching the similarity of two sections of magnetic induction intensity sequences. DTW calculates the similarity between two time series by extending and shortening the time series, as shown in fig. 2. Wherein the upper and lower solid lines represent two time series, and the dotted line between the time series represents a point of similarity between the two time series. DTW measures the similarity between two time series using the sum of the distances between all these similar points, called the normalized path distance.
Judging whether importance resampling is needed: when the sum of the weights of all the Bluetooth Beacon is less than the threshold value 1, returning to the step b; when the sum of the weights of all the Bluetooth Beacons is between the threshold value 1 and the threshold value 2, carrying out importance resampling on all the current Bluetooth Beacons, and then turning to the step c to continue execution; and when the sum of the weights of all the Bluetooth Beacon is greater than or equal to the threshold value 2, the execution is continued. The threshold value 1 is 0.02, and the threshold value 2 is 0.67.
The data preprocessing module 3 removes high frequency noise in the data by using butterworth low pass filtering. In the data preprocessing stage, Butterworth low-pass filtering is adopted to remove high-frequency noise in the data. A butterworth filter is a signal filter with a very flat frequency response curve. First order butterworth low pass filter transfer function:
the INS module provides inertial positions. The INS is an autonomous navigation system, completely depends on airborne equipment to autonomously complete navigation tasks, does not have any optical and electrical connection with the outside, and therefore is good in concealment and free of limit of meteorological conditions. Therefore, in the geomagnetic matching system, the INS serves as a main navigation system, and the positioning error characteristic of the INS determines the characteristic of a system state equation. The characteristics of the state equation affect the observability of the system and affect the result of the state estimation. The specific equation of state formula is:
wherein (x)k，yk) Position coordinates representing the k step,/k+1And thetak+1Respectively representing the step size and the direction value weighted by the particle weight, and the delta l and the delta theta represent random errors of the step size and the direction and are in Gaussian distribution.
When the geomagnetic matching module performs geomagnetic matching positioning, the geomagnetic reference map on the server needs to be imported into the mobile phone, so as to construct an internal geomagnetic reference map of the mobile phone. When the carrier moves to an indoor positioning environment, the inertial navigation system obtains a positioning relative position, a new local geomagnetic reference map can be searched from the geomagnetic reference map based on the relative position, a magnetic sensor arranged in the mobile phone measures the magnetic vector of the position in real time, the measured magnetic vector is correspondingly matched with the local geomagnetic reference map, data processed by a geomagnetic matching algorithm is returned to the mobile phone of a user, the position of the user is displayed on a mobile phone plane map, and therefore the position of the user of the mobile phone can be displayed in real time.
The basic principle of geomagnetic matching navigation is to draw geomagnetic field matching characteristic quantities in a certain section of area on a carrier track planned in advance into a reference map to be stored in a carrier computer, when a carrier passes through the section of area, matching characteristic quantities of points are measured in real time by magnetic measurement equipment loaded on the carrier to obtain a real-time map, and the real-time position of the carrier is determined by carrying out relevant matching with the reference map so as to compensate and correct the accumulated error of an inertial navigation system and achieve the purpose of high-precision autonomous navigation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. An indoor public service place positioning system comprises a geomagnetic matching algorithm module (1); the method is characterized in that: the system comprises a geomagnetic matching algorithm module (1), a geomagnetic database module (2) for providing geomagnetic reference data for the geomagnetic matching algorithm module (1), a data preprocessing module (3) for providing geomagnetic measurement data for the geomagnetic matching algorithm module (1), an INS module (4) for providing inertial positioning positions for the geomagnetic matching algorithm module (1), and a mobile terminal (5) for displaying operation results of the geomagnetic matching algorithm module (1); the geomagnetic matching algorithm module (1) feeds errors back to the INS module (4);
the geomagnetic database module (2) comprises the following manufacturing steps:
a) the method comprises the following steps Determining an indoor site, and inputting a designed indoor site map into a network terminal;
b) the method comprises the following steps A tester holds the mobile terminal by hand to select a field initial position, and deploys a plurality of Bluetooth Beacons in a corresponding initial position area; each Bluetooth Beacon comprises a coordinate and a weight attribute and is well recorded in the network terminal;
c) the method comprises the following steps The tester holds the mobile terminal by hand and moves for l unit lengths, each Bluetooth Beacon correspondingly moves based on the moving direction and distance of the user, the coordinate of each Bluetooth Beacon is updated, and the coordinate is recorded in the network terminal;
d) the method comprises the following steps Comparing the magnetic induction intensity change before and after the movement of each Bluetooth Beacon with the magnetic induction intensity change collected by a tester before and after the movement, and observing the similarity degree;
e) the method comprises the following steps Updating the weight of the Bluetooth Beacon; updating the weight of the Bluetooth Beacon according to the similarity degree, improving the weight of the Bluetooth Beacon with large similarity degree, and reducing the weight of the Bluetooth Beacon with small similarity degree;
f) the method comprises the following steps Respectively carrying out weighted summation on the abscissa and the ordinate of all Bluetooth Beacon coordinates to obtain the current estimated position of the tester;
g) the method comprises the following steps Comparing the estimated position with the position of the set error range; judging the relation between the sum of the weights of all the Bluetooth Beacon and a threshold value 1 or a threshold value 2, wherein the threshold value 1 is smaller than the threshold value 2; if the sum of the weights of all the Bluetooth Beacons is within the range of the error, namely the sum of the weights of all the Bluetooth Beacons is less than the threshold value 1, returning to the step b to continue to execute, if the sum of the weights of all the Bluetooth Beacons is within the range of the threshold value 1-2, performing importance resampling on all the current Bluetooth Beacons, then turning to the step c to continue to execute, and when the sum of the weights of all the Bluetooth Beacons is more than or equal to the threshold value 2, continuing to execute the next step until a tester finishes the test of the whole venue;
h) the method comprises the following steps The Bluetooth Beacon position and the weight of importance resampling are well in one-to-one correspondence with the indoor site map of the network terminal.
2. An indoor public service location positioning system as defined in claim 1, wherein: and the data preprocessing module (3) removes high-frequency noise in the data by adopting Butterworth low-pass filtering.
3. An indoor public service location positioning system as claimed in claim 1 or 2, wherein: the INS module (4) is a main navigation system and can autonomously complete a navigation task; the positioning error characteristics of the INS module (4) determine the characteristics of the system state equation.
4. An indoor public service location positioning system as claimed in claim 1 or 2, wherein: the mobile terminal (5) is a mobile phone with functions of geomagnetic detection, Bluetooth detection and WIFI receiving.
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