CN111735475A - Micro-inertial positioning system coordinate system dynamic matching method - Google Patents
Micro-inertial positioning system coordinate system dynamic matching method Download PDFInfo
- Publication number
- CN111735475A CN111735475A CN202010556908.6A CN202010556908A CN111735475A CN 111735475 A CN111735475 A CN 111735475A CN 202010556908 A CN202010556908 A CN 202010556908A CN 111735475 A CN111735475 A CN 111735475A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- coordinate system
- micro
- map
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims abstract description 8
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000009466 transformation Effects 0.000 abstract 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Abstract
The invention relates to a micro-inertia positioning system coordinate system dynamic matching method, which comprises the steps that firstly, a micro-inertia positioning system is started at a first coordinate point of a map coordinate system, and positioning calculation is started; then sequentially passing through N (N >1) coordinate points, and storing the coordinate value of each coordinate point and the coordinate value calculated by the positioning system; the slope of the straight line determined by two adjacent coordinate points can be calculated by the coordinate values, so that N-1 slope values of a map coordinate system and N-1 slope values of a system coordinate system can be respectively calculated. The transformation relation of the two coordinate systems can be obtained according to the two groups of straight line slopes, the dynamic matching of the micro-inertia positioning system coordinate system and the map coordinate system is completed, the problem that the micro-inertia positioning system coordinate system is not uniform with the map coordinate system is solved, and the positioning information output by the micro-inertia positioning system can be accurately displayed on the map.
Description
Technical Field
The invention belongs to the field of micro inertial positioning systems, and particularly relates to a dynamic matching method for a coordinate system of a micro inertial positioning system.
Background
The micro-inertial positioning system based on the MIMU utilizes the MEMS gyroscope and the MEMS accelerometer to sense the foot movement of the human body for positioning calculation, and simultaneously adopts a Zero Velocity correction algorithm (ZUPT) to correct the positioning error, thereby improving the positioning precision. The personnel positioning system uses a coordinate system that is a local horizontal coordinate system with a Y-axis orientation that is not fixed depending on the Y-axis orientation of the MIMU at system start-up. In order to enable a correct display of the personnel positioning system coordinate system on the map, the system coordinate system has to be matched to the map coordinate system. Therefore, how to quickly and effectively complete the dynamic matching of the coordinate system to ensure that the positioning result is correctly displayed on the map has important research significance for the engineering application of the micro-inertial positioning system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a dynamic matching method for a micro-inertial positioning system coordinate system, which can solve the problem that the micro-inertial positioning system coordinate system is not uniform with a map coordinate system, so that positioning information output by the micro-inertial positioning system can be accurately displayed on a map.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a micro-inertia positioning system coordinate system dynamic matching method is characterized in that a micro-inertia positioning system coordinate system N system and a map coordinate system m system are set, and N coordinate points of the m system are
The micro inertial positioning system has N positioning results
The method comprises the following steps:
step one, initializing a micro inertial positioning system
The micro-inertia positioning system is arranged at a first coordinate point of a map coordinate system
Starting, starting positioning calculation, and storing positioning result of micro inertial positioning system
And a first coordinate point of the map coordinate system
Step two, dynamic matching of coordinate system
(1) The micro-inertia positioning system moves to the ith coordinate point of the map coordinate system through an arbitrary path
Storing positioning results of micro inertial positioning system
And ith coordinate point of map coordinate system
(2) From two adjacent coordinate points
And
calculating to obtain a straight line AiAi+1In the slope of the map coordinate system, see expression (1)
(3) From two adjacent coordinate points
And
calculating to obtain a straight line BiBi+1Slope in the coordinate system of the micro inertial positioning system, see expression (2)
(4) Determining the included angle between the coordinate system of the positioning system and the coordinate system of the map from the slope of the coordinate system of the map and the slope of the coordinate system of the micro inertial positioning system, as shown in expression (3)
(5) For current all αiTaking the mean value, see expression (4)
(6) Finding the corresponding coordinate system transform direction cosine matrix, see expression (5)
Step three, coordinate system conversion
Converting the output coordinates of the micro inertial positioning system according to the matching result in the step 2 to enable the output coordinates to be matched with a map coordinate system; the conversion formula is:
the invention has the advantages and positive effects that:
the invention utilizes the coordinate values of known points of N (N >1) map coordinate systems and combines the corresponding coordinate values calculated by the micro-inertia positioning system to complete the dynamic matching of the micro-inertia positioning system coordinate system and the map coordinate system, thereby solving the problem that the micro-inertia positioning system coordinate system is not uniform with the map coordinate system and ensuring that the positioning information output by the micro-inertia positioning system can be accurately displayed on the map.
Drawings
FIG. 1 is a flow chart of the dynamic coordinate matching algorithm of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative, not restrictive, and the scope of the invention is not limited thereto.
A method for dynamically matching a coordinate system of a micro-inertia positioning system is disclosed, and the invention is to set micro-inertia as shown in FIG. 1A coordinate system N of the positioning system, a coordinate system m of the map, N coordinate points of the coordinate system m are
The micro inertial positioning system has N positioning results
The method comprises the following steps:
step one, initializing a micro inertial positioning system
The micro-inertia positioning system is arranged at a first coordinate point of a map coordinate system
Starting, starting positioning calculation, wherein the positioning calculation is realized by built-in calculation software of the micro inertial positioning system, the positioning result of the micro inertial positioning system is obtained by calculation, and the positioning result of the micro inertial positioning system is stored
And a first coordinate point of the map coordinate system
Step two, dynamic matching of coordinate system
(1) The micro-inertia positioning system moves to the ith coordinate point of the map coordinate system through an arbitrary path
Storing positioning results of micro inertial positioning system
And ith coordinate point of map coordinate system
(2) From two adjacent coordinate points
And
calculating to obtain a straight line AiAi+1In the slope of the map coordinate system, see expression (1)
(3) From two adjacent coordinate points
And
calculating to obtain a straight line BiBi+1Slope in the coordinate system of the micro inertial positioning system, see expression (2)
(4) Determining the included angle between the coordinate system of the positioning system and the coordinate system of the map from the slope of the coordinate system of the map and the slope of the coordinate system of the micro inertial positioning system, as shown in expression (3)
(5) For current all αiTaking the mean value, see expression (4)
(6) Finding the corresponding coordinate system transform direction cosine matrix, see expression (5)
Step three, coordinate system conversion
Converting the output coordinates of the micro inertial positioning system according to the matching result in the step 2 to enable the output coordinates to be matched with a map coordinate system; the conversion formula is:
in summary, the design idea of the dynamic matching method for the coordinate system of the micro inertial positioning system is as follows: firstly, starting a micro inertial positioning system at a first coordinate point of a map coordinate system, and starting positioning calculation; then sequentially passing through N (N >1) coordinate points, and storing the coordinate value of each coordinate point and the coordinate value calculated by the positioning system; the slope of the straight line determined by two adjacent coordinate points can be calculated by the coordinate values, so that N-1 slope values of a map coordinate system and N-1 slope values of a system coordinate system can be respectively calculated. And obtaining the conversion relation of the two coordinate systems according to the two groups of straight line slopes, and completing the dynamic matching of the coordinate system of the micro-inertial positioning system and the coordinate system of the map. The method has no limit to the movement of personnel, the number (value) of coordinate points required by matching can be selected according to a specific practical environment, and the method has strong environmental adaptability and engineering application value.
Although the embodiments and figures of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and figures.
Claims (1)
1. A micro-inertia positioning system coordinate system dynamic matching method is characterized in that a micro-inertia positioning system coordinate system N system and a map coordinate system m system are set, and N coordinate points of the m system are
The micro inertial positioning system has N positioning results
The method comprises the following steps:
step one, initializing a micro inertial positioning system
The micro-inertia positioning system is arranged at a first coordinate point of a map coordinate system
Starting, starting positioning calculation, and storing positioning result of micro inertial positioning system
And a first coordinate point of the map coordinate system
Step two, dynamic matching of coordinate system
(1) The micro-inertia positioning system moves to the ith coordinate point of the map coordinate system through an arbitrary path
Storing positioning results of micro inertial positioning system
And ith coordinate point of map coordinate system
(2) From two adjacent coordinate points
And
calculating to obtain a straight line AiAi+1In the slope of the map coordinate system, see expression (1)
(3) From two adjacent coordinate points
And
calculating to obtain a straight line BiBi+1Slope in the coordinate system of the micro inertial positioning system, see expression (2)
(4) Determining the included angle between the coordinate system of the positioning system and the coordinate system of the map from the slope of the coordinate system of the map and the slope of the coordinate system of the micro inertial positioning system, as shown in expression (3)
(5) For current all αiTaking the mean value, see expression (4)
(6) Finding the corresponding coordinate system transform direction cosine matrix, see expression (5)
Step three, coordinate system conversion
Converting the output coordinates of the micro inertial positioning system according to the matching result in the step 2 to enable the output coordinates to be matched with a map coordinate system; the conversion formula is:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010556908.6A CN111735475A (en) | 2020-06-18 | 2020-06-18 | Micro-inertial positioning system coordinate system dynamic matching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010556908.6A CN111735475A (en) | 2020-06-18 | 2020-06-18 | Micro-inertial positioning system coordinate system dynamic matching method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111735475A true CN111735475A (en) | 2020-10-02 |
Family
ID=72649664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010556908.6A Pending CN111735475A (en) | 2020-06-18 | 2020-06-18 | Micro-inertial positioning system coordinate system dynamic matching method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111735475A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102865862A (en) * | 2012-09-24 | 2013-01-09 | 江西日月明铁道设备开发有限公司 | Non-horizontalization free established station for total station and project measurement method of non-horizontalization free established station |
| CN106525088A (en) * | 2016-10-13 | 2017-03-22 | 中国空间技术研究院 | Chromatmetry-based spherical rotor posture detection method |
| CN107831515A (en) * | 2017-10-10 | 2018-03-23 | 北京臻迪科技股份有限公司 | Underwater Navigation method and system |
| CN109297495A (en) * | 2018-09-21 | 2019-02-01 | 中国人民解放军战略支援部队信息工程大学 | A kind of pedestrian navigation localization method and pedestrian navigation positioning system |
| US20190204848A1 (en) * | 2017-12-29 | 2019-07-04 | Ubtech Robotics Corp | Gait control method, device, and terminal device for biped robot |
-
2020
- 2020-06-18 CN CN202010556908.6A patent/CN111735475A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102865862A (en) * | 2012-09-24 | 2013-01-09 | 江西日月明铁道设备开发有限公司 | Non-horizontalization free established station for total station and project measurement method of non-horizontalization free established station |
| CN106525088A (en) * | 2016-10-13 | 2017-03-22 | 中国空间技术研究院 | Chromatmetry-based spherical rotor posture detection method |
| CN107831515A (en) * | 2017-10-10 | 2018-03-23 | 北京臻迪科技股份有限公司 | Underwater Navigation method and system |
| US20190204848A1 (en) * | 2017-12-29 | 2019-07-04 | Ubtech Robotics Corp | Gait control method, device, and terminal device for biped robot |
| CN109297495A (en) * | 2018-09-21 | 2019-02-01 | 中国人民解放军战略支援部队信息工程大学 | A kind of pedestrian navigation localization method and pedestrian navigation positioning system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109029448B (en) | Monocular vision inertial positioning's IMU aided tracking model | |
| CN113311411B (en) | Laser radar point cloud motion distortion correction method for mobile robot | |
| CN107808395B (en) | Indoor positioning method based on SLAM | |
| CN112781594B (en) | Laser radar iteration closest point improvement algorithm based on IMU coupling | |
| CN101825468A (en) | Strapdown inertial navigation method of dual quaternion based on frequency domain analysis method | |
| WO2020140431A1 (en) | Camera pose determination method and apparatus, electronic device and storage medium | |
| CN109959374B (en) | Full-time and full-range reverse smooth filtering method for pedestrian inertial navigation | |
| CN111123280B (en) | Laser radar positioning method, device and system, electronic equipment and storage medium | |
| CN102853833A (en) | Rapid damping method of strap-down inertial navigation system | |
| CN110595479B (en) | SLAM track evaluation method based on ICP algorithm | |
| CN111256688A (en) | Pre-integration algorithm of inertial navigation system | |
| CN111735475A (en) | Micro-inertial positioning system coordinate system dynamic matching method | |
| CN111486867B (en) | Calibration device and method for installation parameters of vision and inertia mixed tracking assembly | |
| CN101696880A (en) | Dynamic real-time precise level measurement method of moving carrier | |
| CN103091508A (en) | Method and device of obtaining movement direction of navigation goal | |
| CN113108781A (en) | Improved coarse alignment algorithm applied to unmanned ship during traveling | |
| CN108759818A (en) | A kind of method that superhigh precision guiding sensor posture determines | |
| Xi et al. | A new method for indoor low-cost mobile robot SLAM | |
| CN103412337A (en) | Dual-independent rotating magnetic bar electromagnetic tracking-based position tracking method and electromagnetic tracking system | |
| CN110888123A (en) | Radar coordinate conversion method based on rotation matrix | |
| CN113189541B (en) | Positioning method, device and equipment | |
| CN113625301B (en) | Method and system for expanding view field of building map based on single-scanning-head laser radar | |
| CN111366149B (en) | Method for extracting sun vector direction based on lunar phase | |
| CN111121772A (en) | Dynamic matching method for individual positioning system coordinate system | |
| CN103206953A (en) | Method of generating geometric heading and positioning system using the same method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201002 |