CN111721292B - Indoor positioning method utilizing geomagnetism - Google Patents
Indoor positioning method utilizing geomagnetism Download PDFInfo
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- CN111721292B CN111721292B CN201910210435.1A CN201910210435A CN111721292B CN 111721292 B CN111721292 B CN 111721292B CN 201910210435 A CN201910210435 A CN 201910210435A CN 111721292 B CN111721292 B CN 111721292B
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- geomagnetic
- geomagnetism
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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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- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
An indoor positioning method using geomagnetism, comprising the steps of: collecting geomagnetism to generate fingerprints: the acquired geomagnetism generates a geomagnetic database in a longitudinal interpolation and transverse expansion mode; judging interference by using geomagnetic fluctuation and amplitude: (1) Firstly, acquiring and determining geomagnetic intensity mu under the condition of no interference or small interference; (2) training the fluctuation sigma of local geomagnetism using the acquired data; (3) In the on-line judgment, use
To judge the magnitude of the current geomagnetic disturbance, the smaller geomagnetic disturbance indicates the more reliable the compass direction, namely the compass error
(4) Judging how to use geomagnetism by using the magnetic field intensity and the magnetic field fluctuation, and performing position deduction by using PDR when geomagnetic interference is small; when geomagnetic features are obvious, geomagnetic positioning is used; the beneficial effects of the invention are as follows: under the condition of stable geomagnetism and no obvious interference, the compass is used for pointing, and the user position is calculated by a PDR mode.
Description
Technical Field
The invention relates to the technical field of indoor positioning methods, in particular to an indoor positioning method utilizing geomagnetism.
Background
The geomagnetic signal has the characteristics of no need of paving a signal source in advance, zero hardware input cost, good signal stability, high positioning precision, cross-platform property and the like, and can be used as an auxiliary means for indoor positioning.
The geomagnetic field refers to a natural magnetic phenomenon existing in the earth, the intensity of the geomagnetic field is usually 0.4-0.6Gauss along with the difference of geographic positions, the geomagnetic field is basically fixed in size and direction under the condition of no external interference at the same position, and an electronic compass determines the direction by utilizing the magnetic field of the earth, as shown in fig. 1; due to the effect of the building materials such as the indoor reinforcing steel bars and the cement, the geomagnetism is different at different indoor positions, so that the direction of the compass is greatly influenced, especially in the scene of large and random indoor geomagnetism interference, the interference is very unstable and irregular and can circulate, as shown in fig. 2, the application based on the direction is a relatively large constraint, such as: a PDR system; the presence of magnetic interference on the one hand results in the compass direction being affected; on the other hand, geomagnetic features caused by magnetic interference can be used as fingerprints to determine the position, and the indoor position judgment is based on the geomagnetism.
Disclosure of Invention
In order to achieve the above purpose, the present invention provides the following technical solutions:
an indoor positioning method using geomagnetism, comprising the steps of:
collecting geomagnetism to generate fingerprints: the acquired geomagnetism generates a geomagnetic database in a longitudinal interpolation and transverse expansion mode;
judging interference by using geomagnetic fluctuation and amplitude:
(1) Firstly, acquiring and determining geomagnetic intensity mu under the condition of no interference or small interference;
(2) Training the fluctuation sigma of local geomagnetism by using the acquired data;
(3) In the on-line judgment, use
To judge the magnitude of the current geomagnetic disturbance, the smaller geomagnetic disturbance indicates the more reliable the compass direction, namely the compass error/>
(4) Judging how to use geomagnetism by using the magnetic field intensity and the magnetic field fluctuation, and performing position deduction by using PDR when geomagnetic interference is small; when geomagnetic features are obvious, geomagnetic positioning is used;
step three, position deduction: determining positions in a region with characteristics of geomagnetism comparison by using a geomagnetism length sequence matching method, and initializing and calibrating particles; and (3) carrying out position result deduction by using the PDR in a region with stable geomagnetism, and simultaneously carrying out particle weight updating and resampling by using geomagnetic short sequence matching.
The invention further adopts the following scheme: in step one, the longitudinal interpolation interpolates at a sampling rate.
As a still further aspect of the present invention: in step one, the lateral expansion has a plurality of tracks.
The beneficial effects of the invention are as follows: under the condition of stable geomagnetism and no obvious interference, calculating the position of a user by using compass pointing and a PDR mode; under the condition that geomagnetic interference is obvious, the geomagnetic characteristics caused by the magnetic interference are used as fingerprints to determine the position, and the geomagnetic characteristics are fully utilized for positioning.
Drawings
FIG. 1 is a schematic diagram of the present invention for determining direction using an electronic compass;
FIG. 2 is a schematic illustration of the determination of direction in the case of interference according to the present invention;
FIG. 3 is a schematic diagram of geomagnetism collected in the present invention;
FIG. 4 is a geomagnetic chart after expansion of the present invention;
FIG. 5 is a flow chart of a positioning method of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, in an embodiment of the present invention, an indoor positioning method using geomagnetism includes the following steps:
collecting geomagnetism to generate fingerprints: the acquired geomagnetism generates a geomagnetic database in a longitudinal interpolation and transverse expansion mode;
judging interference by using geomagnetic fluctuation and amplitude:
(1) Firstly, acquiring and determining geomagnetic intensity mu under the condition of no interference or small interference;
(2) Training the fluctuation sigma of local geomagnetism by using the acquired data;
(3) In the on-line judgment, use
To judge the magnitude of the current geomagnetic disturbance, the smaller geomagnetic disturbance indicates the more reliable the compass direction, namely the compass error +.>
(4) Judging how to use geomagnetism by using the magnetic field intensity and the magnetic field fluctuation, and performing position deduction by using PDR when geomagnetic interference is small; when geomagnetic features are obvious, geomagnetic positioning is used;
step three, position deduction: determining positions in a region with characteristics of geomagnetism comparison by using a geomagnetism length sequence matching method, and initializing and calibrating particles; and (3) carrying out position result deduction by using the PDR in a region with stable geomagnetism, and simultaneously carrying out particle weight updating and resampling by using geomagnetic short sequence matching.
In step one, the longitudinal interpolation interpolates at a sampling rate.
In step one, the lateral expansion has a plurality of tracks.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (1)
1. An indoor positioning method using geomagnetism is characterized by comprising the following steps:
collecting geomagnetism to generate fingerprints: the acquired geomagnetism generates a geomagnetic database in a longitudinal interpolation and transverse expansion mode;
judging interference by using geomagnetic fluctuation and amplitude:
(1) Firstly, acquiring and determining geomagnetic intensity mu under the condition of no interference or small interference;
(2) Training the fluctuation sigma of local geomagnetism by using the acquired data;
(3) In the on-line judgment, use
To judge the magnitude of the current geomagnetic disturbance, the smaller geomagnetic disturbance indicates the more reliable the compass direction, namely the compass error +.>
(4) Judging how to use geomagnetism by using the magnetic field intensity and the magnetic field fluctuation, and performing position deduction by using PDR when geomagnetic interference is small; when geomagnetic features are obvious, geomagnetic positioning is used;
step three, position deduction: determining positions in a region with characteristics of geomagnetism comparison by using a geomagnetism length sequence matching method, and initializing and calibrating particles; position result deduction is carried out by utilizing PDR in a region with stable geomagnetism, and particle weight updating and resampling are carried out by utilizing geomagnetic short sequence matching;
in the first step, the longitudinal interpolation is carried out according to the sampling rate; in step one, the lateral expansion has a plurality of tracks.
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