CN111964666B - Method for realizing indoor geomagnetic positioning by deploying magnets - Google Patents
Method for realizing indoor geomagnetic positioning by deploying magnets Download PDFInfo
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- CN111964666B CN111964666B CN202010817384.1A CN202010817384A CN111964666B CN 111964666 B CN111964666 B CN 111964666B CN 202010817384 A CN202010817384 A CN 202010817384A CN 111964666 B CN111964666 B CN 111964666B
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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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- 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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Abstract
The invention discloses a method for realizing indoor geomagnetic positioning by deploying magnets. By means of minimum deployment, the characteristics of the geomagnetic fingerprint are enhanced, and the geomagnetic positioning precision is effectively improved; according to the data acquisition mode of acquiring the geomagnetic fingerprint, calculating the area with insufficient geomagnetic fingerprint characteristics and acquiring the geomagnetic fingerprint again, the area with poor geomagnetic fingerprint characteristics is accurately calculated, the magnets are supplemented and deployed in a targeted manner, and the cost is reduced; the magnet deployment method provided by the invention effectively improves the characteristics of the geomagnetic fingerprint, thereby increasing the application range of geomagnetic positioning and enabling the geomagnetic positioning to be used in semi-open or outdoor environments.
Description
Technical Field
The invention relates to the technical field of indoor positioning and indoor navigation, in particular to the technical field of indoor geomagnetic positioning.
Background
Currently, indoor positioning technology based on geomagnetic signals is a focus of attention. The reason is that the geomagnetic signal is very stable, and the non-line-of-sight communication problem that radio wave signals such as iBeacon signals and Wi-Fi signals are troubled is solved. As long as the indoor space result is kept relatively stable, and activities such as large-scale indoor decoration and the like for changing the indoor geomagnetic signal distribution do not exist, the geomagnetic fingerprint characteristics are kept unchanged basically. However, indoor geomagnetic localization also has the following problems:
1. Not all indoor places have strong geomagnetic fingerprint characteristics, so the geomagnetic positioning algorithm usually adopts a deep learning technique to extract high-order correlation characteristics of geomagnetic signals and constructs a complex fingerprint algorithm. Therefore, the indoor positioning system based on the geomagnetic signal generally needs to deploy a cloud server with strong computing capability, which not only increases the landing cost of the indoor positioning system, but also greatly increases the complexity of system implementation.
2. In order to further solve the problem of insufficient geomagnetic fingerprint characteristics, indoor positioning algorithms based on geomagnetism generally fuse other types of indoor signals such as Wi-Fi or iBeacon signals. In order to obtain a better positioning effect, a kalman algorithm or a particle filter algorithm is generally used as the fusion algorithm. Such algorithms are complex to model and computationally intensive. In the landing process of the indoor positioning system, a design algorithm is often customized according to actual conditions of clients and venues, so that the landing period of projects is greatly increased, and the labor cost is increased.
3. For mobile devices, represented by smartphones, power is a very valuable resource. Whether the closed iOS operating system of apple company or the android operating system sourced by Google company and developed by numerous mobile phone manufacturers secondarily, more limitation and monitoring are added to the electric quantity consumption of the mobile phone application in order to improve the overall energy efficiency ratio of the mobile phone and seize the market share. Therefore, the feature of large computation amount of current geomagnetic algorithm makes it difficult to further popularize in consumer electronics market.
At present, a scene of deploying equipment containing magnets to realize positioning navigation in an indoor environment only exists in the field of Automatic Guided Vehicles (AGVs), and a typical industrial application scene is a storage robot. This technology requires the deployment of a large number of magnetic pegs + RFID chips indoors, with antennas and magnetic induction devices (magnetometers) mounted on the AGVs. When the AGV passes near the magnetic nail, electromagnetic induction occurs, the antenna exchanges energy to the magnetic nail, and the magnetic nail transmits positioning coding (magnetic nail position) pulse through the energy. After the AGV receives the positioning coding pulse, the AGV decodes the positioning coding pulse and obtains a fixed position. Therefore, the magnetic nail plays a role here, an accurate positioning pulse is mainly provided for the RFID, the problem that data pulses encountered by the traditional RFID in a complex environment are not clean enough is solved, and the function of positioning and navigation is not realized by utilizing the fingerprint characteristics of the geomagnetism.
Disclosure of Invention
The invention aims to solve the problems in the prior art, provides a method for realizing indoor geomagnetic positioning by deploying magnets, can solve the problem of insufficient regional fingerprint characteristics in the current geomagnetic indoor positioning field, and can avoid the problems of large algorithm calculation amount and long acquisition-inspection period.
In order to achieve the above purpose, the present invention provides a method for realizing indoor geomagnetic positioning by deploying magnets, comprising the following steps:
step S1: taking a smart phone with a high-precision magnetic sensor;
step S2: acquiring geomagnetic information and relative positions of areas needing to be positioned by the smart phone in the step S1, covering the areas needing to be acquired by the smart phone in a full-field movement process, and calculating the relative positions of acquiring personnel by using an accelerometer and a gyroscope which are arranged in the smart phone while acquiring;
step S3: when the collection personnel move to the position point which can be easily identified, the current position point is clicked on the mobile phone map, so that the true value point information is recorded;
step S4: obtaining a corresponding absolute position through the relative position in the step S2 and the truth-value point information in the step S3;
step S5: acquiring a corresponding list of absolute positions and geomagnetic information after the acquisition is finished, and establishing a geomagnetic fingerprint map of a full field through a Gaussian process regression algorithm;
step S6: drawing sub grids in four dimensions of intensity, Y direction, Z direction and horizontal direction through the geomagnetic fingerprint image obtained in the step S5;
step S7: calculating the variances and the covariances of all coordinate points in the grid in the step S6 to obtain the geomagnetic fingerprint covariances in four dimensions of strength, Y direction, Z direction and horizontal direction, and judging that the grid geomagnetic fingerprint is insufficient in feature when half of the element values of any one of four covariance matrixes representing the spatial feature significance of the grid geomagnetic fingerprint are lower than a certain value;
Step S8: disposing a magnet at the center of the geomagnetic fingerprint characteristic insufficiency region according to the geomagnetic fingerprint characteristic insufficiency region determined in the step S7;
step S9: repeating the steps S2-S7, collecting and generating the geomagnetic fingerprint image again, analyzing whether the geomagnetic fingerprint image has insufficient areas or not according to the characteristics of the geomagnetic fingerprint image, analyzing the positions of the insufficient areas when the geomagnetic fingerprint image still has the insufficient areas according to the characteristics of the geomagnetic fingerprint image, repeating the step S8, and supplementing the deployed magnets according to the geomagnetic fingerprint image until no grid in the full field is judged to have insufficient geomagnetic characteristics;
step S10: and realizing geomagnetic positioning according to the generated geomagnetic fingerprint image.
Preferably, the spatial resolution of the geomagnetic fingerprint map is 0.1 m.
Preferably, the mesh size in step S6 is set to 5 m.
Preferably, in step S7, if the half of the values of the elements of any one of the four covariance matrices representing the spatial feature of the grid geomagnetic fingerprint is less than 0.5, it is determined that the grid geomagnetic fingerprint has insufficient feature.
Preferably, the step S2 calculates the relative position according to the accelerometer and gyroscope data by using a step detection algorithm and a step estimation algorithm.
The method for realizing indoor geomagnetic positioning by deploying the magnets has the advantages that: 1. the invention provides a solution for the characteristic defect of indoor geomagnetic fingerprints. The characteristics of the geomagnetic fingerprint are enhanced in a minimum deployment mode, and the geomagnetic positioning precision is effectively improved; 2. the data acquisition mode of acquiring fingerprints, calculating the area with insufficient geomagnetic fingerprint characteristics and acquiring the fingerprints again accurately calculates the area with poor geomagnetic fingerprint characteristics, supplements and deploys magnets in a targeted manner, and reduces the cost; 3. the magnet deployment method provided by the invention effectively improves the characteristics of the geomagnetic fingerprint, thereby increasing the application range of geomagnetic positioning and enabling the geomagnetic positioning to be used in semi-open or outdoor environments.
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 schematic flow chart illustrating a method for performing indoor geomagnetic positioning by deploying magnets according to the present invention.
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.
The first embodiment is as follows:
referring to fig. 1, the invention relates to a method for realizing indoor geomagnetic positioning by deploying magnets, which comprises the following steps:
step S1: taking a smart phone with a high-precision magnetic sensor; the high-end smart phone with the high-precision magnetometer is used for collecting the area needing positioning, and the economic cost and the time cost of collecting work are reduced.
Step S2: the method comprises the steps that the smart phone collects geomagnetic information and relative positions of areas needing to be located through the step S1, the smart phone covers the areas needing to be collected to move in a full field, and an accelerometer and a gyroscope which are arranged in the smart phone are used for calculating the relative positions of collection personnel during collection. The acquisition process is simple, the equipment cost is low, the acquisition difficulty is low, professional training is not needed, and the geomagnetic information is acquired and the relative position is calculated at the same time.
Step S3: when the collection personnel move to the position point which can be easily identified, the current position point is clicked on the mobile phone map, and therefore the real value point information is recorded. And recording truth point information to facilitate subsequent calculation of position information.
Step S4: the corresponding absolute position is obtained from the relative position in step S2 and the truth point information in step S3.
Step S5: acquiring a corresponding list of absolute positions and geomagnetic information after the acquisition is finished, and establishing a geomagnetic fingerprint map of a full field through a Gaussian process regression algorithm; in order to rapidly analyze an area with insufficient geomagnetic fingerprint characteristics, a geomagnetic library is established without a deep learning technology, and a geomagnetic fingerprint image is established through a Gaussian process regression algorithm, so that the efficiency is improved.
Step S6: drawing sub grids in four dimensions of intensity, Y direction, Z direction and horizontal direction through the geomagnetic fingerprint image obtained in the step S5; and a grid graph is drawn, so that the subsequent analysis of geomagnetic spatial characteristics is facilitated.
Step S7: calculating the variances and the covariances of all coordinate points in the grid in the step S6 to obtain the geomagnetic fingerprint covariances in four dimensions of strength, Y direction, Z direction and horizontal direction, and judging that the grid geomagnetic fingerprint is insufficient in feature when half of the element values of any one of four covariance matrixes representing the spatial feature significance of the grid geomagnetic fingerprint are lower than a certain value; and finding out the area with insufficient geomagnetic fingerprint characteristics on the map, and conveniently supplementing magnetic force.
Step S8: according to the area with insufficient geomagnetic fingerprint characteristics determined in step S7, a magnet is disposed at the center of the area with insufficient geomagnetic fingerprint characteristics; the magnet is used manually to supplement the region with insufficient magnetic fingerprint characteristics in the region, and the magnet is matched with the geomagnetism to improve the positioning precision.
Step S9: repeating the steps S2-S7, collecting and generating the geomagnetic fingerprint image again, analyzing whether the geomagnetic fingerprint image has insufficient areas or not according to the characteristics of the geomagnetic fingerprint image, analyzing the positions of the insufficient areas when the geomagnetic fingerprint image still has the insufficient areas according to the characteristics of the geomagnetic fingerprint image, repeating the step S8, and supplementing the deployed magnets according to the geomagnetic fingerprint image until no grid in the full field is judged to have insufficient geomagnetic characteristics; the geomagnetic fingerprint image is collected and generated for multiple times, analyzed, supplemented with magnets, and positioned accurately.
Step S10: and realizing geomagnetic positioning according to the generated geomagnetic fingerprint image.
In this embodiment, the spatial resolution of the geomagnetic fingerprint map is 0.1 m.
In this embodiment, the mesh size is set to 5m in step S6.
In this embodiment, if the half of the values of the elements in any one of the four covariance matrices representing the spatial feature significance of the grid geomagnetic fingerprint in step S7 is less than 0.5, it is determined that the grid geomagnetic fingerprint has insufficient feature.
In this embodiment, step S2 calculates the relative position by using a step detection algorithm and a step estimation algorithm according to the data of the accelerometer and the gyroscope. In this embodiment, the geomagnetic fingerprint map spatial resolution and the size of the grid are set, so that the area with poor geomagnetic fingerprint characteristics can be conveniently and accurately calculated.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.
Claims (5)
1. A method for realizing indoor geomagnetic positioning by deploying magnets comprises the following steps:
step S1: taking a smart phone with a high-precision magnetic sensor;
step S2: acquiring geomagnetic information and relative positions of areas needing to be positioned by the smart phone in the step S1, covering the areas needing to be acquired by the smart phone in a full-field movement process, and calculating the relative positions of acquiring personnel by using an accelerometer and a gyroscope which are arranged in the smart phone while acquiring;
Step S3: when the collection personnel move to the position point which can be easily identified, the current position point is clicked on the mobile phone map, so that the true value point information is recorded;
step S4: obtaining a corresponding absolute position through the relative position in the step S2 and the truth-value point information in the step S3;
step S5: acquiring a corresponding list of absolute positions and geomagnetic information after the acquisition is finished, and establishing a geomagnetic fingerprint map of a full field through a Gaussian process regression algorithm;
step S6: drawing sub grids in four dimensions of intensity, Y direction, Z direction and horizontal direction through the geomagnetic fingerprint image obtained in the step S5;
step S7: calculating the variances and the covariances of all coordinate points in the grid in the step S6 to obtain the geomagnetic fingerprint covariances in four dimensions of strength, Y direction, Z direction and horizontal direction, and judging that the grid geomagnetic fingerprint is insufficient in feature when half of the element values of any one of four covariance matrixes representing the spatial feature significance of the grid geomagnetic fingerprint are lower than a certain value;
step S8: according to the area with insufficient geomagnetic fingerprint characteristics determined in step S7, a magnet is disposed at the center of the area with insufficient geomagnetic fingerprint characteristics;
Step S9: repeating the steps S2-S7, collecting and generating the geomagnetic fingerprint image again, analyzing whether the geomagnetic fingerprint image has insufficient areas or not according to the characteristics of the geomagnetic fingerprint image, analyzing the positions of the insufficient areas when the geomagnetic fingerprint image still has the insufficient areas according to the characteristics of the geomagnetic fingerprint image, repeating the step S8, and supplementing the deployed magnets according to the geomagnetic fingerprint image until no grid in the full field is judged to have insufficient geomagnetic characteristics;
step S10: and realizing geomagnetic positioning according to the generated geomagnetic fingerprint image.
2. A method for indoor geomagnetic positioning by deploying a magnet according to claim 1, wherein: the spatial resolution of the geomagnetic fingerprint map is 0.1 m.
3. A method for indoor geomagnetic positioning by deploying a magnet according to claim 1, wherein: the mesh size in step S6 is set to 5 m.
4. A method for indoor geomagnetic positioning by deploying a magnet according to claim 1, wherein: in step S7, if the half of the values of the elements in any one of the four covariance matrices representing the spatial feature of the grid geomagnetic fingerprint is less than 0.5, it is determined that the grid geomagnetic fingerprint has insufficient feature.
5. A method for indoor geomagnetic positioning by deploying a magnet according to claim 1, wherein: and step S2, calculating the relative position according to the data of the accelerometer and the gyroscope by a step detection algorithm and a step estimation algorithm.
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