CN112362044A - Indoor positioning method, device, equipment and system - Google Patents
Indoor positioning method, device, equipment and system Download PDFInfo
- Publication number
- CN112362044A CN112362044A CN202011209793.XA CN202011209793A CN112362044A CN 112362044 A CN112362044 A CN 112362044A CN 202011209793 A CN202011209793 A CN 202011209793A CN 112362044 A CN112362044 A CN 112362044A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- positioning
- real
- geomagnetic
- target area
- 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 42
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005358 geomagnetic field Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000005070 sampling 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
- 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
-
- 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
-
- 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
-
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Abstract
The invention relates to an indoor positioning method, device, equipment and system, comprising: acquiring a plane coordinate system of a target area, and determining coordinate position information of the target area; starting an inertial navigation system to record real-time positioning coordinates of the moving object based on the coordinates of the starting point position in the target area; correcting the real-time positioning coordinate based on a geomagnetic fingerprint matching positioning algorithm; and determining whether a special beacon node exists on a motion path with the initial point position coordinate as the initial point or not based on the coordinate position information, and correcting the real-time positioning coordinate based on the coordinate of the special beacon node if the special beacon node exists. By adopting strong distinguishability of geomagnetic signals and adopting a geomagnetic fingerprint matching and positioning algorithm, the inertial navigation result and the geomagnetic fingerprint matching and positioning algorithm are mutually calibrated. And the position information of inertial navigation and geomagnetic calculation can be further calibrated by combining indoor map information and utilizing indoor special beacon points. Not only the positioning is more accurate, but also the cost is effectively saved, and an indoor accurate positioning method is provided.
Description
Technical Field
The invention belongs to the technical field of space positioning, and particularly relates to an indoor positioning method, device, equipment and system.
Background
With the development of modern society, in various fields, more and more targets need to be accurately positioned, so people also put forward higher-level requirements on positioning technology, and especially the accurate positioning of moving targets gradually becomes a key problem concerned by people in the modern times.
Currently, the existing indoor navigation positioning technologies mainly include: a positioning technology based on ZigBee, a positioning technology based on radio frequency tags, a positioning technology based on wireless local area networks, a positioning technology based on inertial navigation systems and the like. Different application scenarios have different requirements on positioning technologies, and a ZigBee-based positioning technology, a radio frequency tag-based positioning technology and a wireless local area network-based positioning technology need to deploy a base station in advance and need to be matched with a specific terminal for use, so that not only is the cost increased, but also the positioning accuracy is not high, and the situation is faced to be eliminated. The positioning technology based on the inertial navigation system has relatively high accuracy of estimating position information in a short time (no consideration is given to starting point errors), and long-time errors are accumulated greatly, so that an indoor positioning method is urgently needed to achieve a good positioning effect on the premise of not increasing cost.
Disclosure of Invention
In order to solve the problems of large indoor positioning error and high cost in the prior art, the invention provides an indoor positioning method, device, equipment and system, which have the characteristics of more accurate positioning, more cost saving and the like.
An indoor positioning method according to an embodiment of the present invention includes:
acquiring a plane coordinate system of a target area, and determining coordinate position information of the target area;
starting an inertial navigation system to record real-time positioning coordinates of the moving object based on the coordinates of the starting point position in the target area;
correcting the real-time positioning coordinates based on a geomagnetic fingerprint matching positioning algorithm;
and determining whether a special beacon node exists on a motion path with the initial point position coordinate as the initial point or not based on the coordinate position information, and correcting the real-time positioning coordinate based on the coordinate of the special beacon node if the special beacon node exists.
Further, the starting of the inertial navigation system to record the real-time positioning coordinate based on the start point position coordinate in the target area includes:
and solving the real-time positioning coordinate by adopting an inertial navigation positioning principle based on respective acceleration values of three axes of an x axis, a y axis and a z axis of the accelerometer, combined acceleration values of three axes of the x axis, the y axis and the z axis and angular velocity values of three axes of the x axis, the y axis and the z axis of the gyroscope.
Further, the correcting the real-time positioning coordinate based on the geomagnetic fingerprint matching and positioning algorithm includes:
acquiring the geomagnetic triaxial magnetic field intensity in the target area, and establishing a geomagnetic database;
judging similarity based on the real-time magnetic field characteristic data of the moving object and the magnetic field reference map of the target area in the geomagnetic database;
and if the similarity is greater than a preset value, correcting the real-time positioning coordinate based on the geomagnetic fingerprint matching positioning algorithm, and outputting a corresponding position result.
Further, the geomagnetic fingerprint matching and positioning algorithm comprises:
X＝ρ1×X2+(1-ρ1)×X1；
wherein, X1Outputting the real-time position coordinates for the inertial navigation system; x2The corresponding position coordinate is larger than the preset value; rho1Is the similarity value; x is the corrected coordinate value.
And further, measuring the magnetic field intensity of the geomagnetic triaxial based on the magnetic field intensity values of the triaxial x, y and z axes output by the magnetometer and the resultant magnetic field intensity values of the triaxial x, y and z axes.
Further, the special beacon node includes an inflection point and a boundary within the target area.
Further, the indoor positioning method further comprises: and if the special beacon node does not exist, outputting the real-time positioning coordinate corrected based on the geomagnetic fingerprint matching and positioning algorithm.
According to a specific embodiment of the present invention, there is provided an indoor positioning device, including:
the coordinate determination module is used for acquiring a plane coordinate system of a target area and determining coordinate position information of the target area;
the inertial navigation positioning module is used for starting an inertial navigation system to record the real-time positioning coordinates of the moving object based on the initial point position coordinates in the target area;
the geomagnetic correction module is used for correcting the real-time positioning coordinate based on a geomagnetic fingerprint matching positioning algorithm; and
and the special beacon node correction module is used for determining whether a special beacon node exists on a motion path taking the initial point position coordinate as a starting point or not based on the coordinate position information, and correcting the real-time positioning coordinate based on the coordinate of the special beacon node if the special beacon node exists.
According to the specific embodiment of the invention, the indoor positioning equipment comprises:
a processor, and a memory coupled to the processor;
the memory is adapted to store a computer program for performing at least the indoor positioning method described above.
According to the specific embodiment of the invention, the indoor positioning system comprises the indoor positioning equipment, and an accelerometer, a gyroscope and a magnetometer which are connected with the indoor positioning equipment.
The invention has the beneficial effects that: by adopting strong distinguishability of geomagnetic signals and adopting a geomagnetic fingerprint matching and positioning algorithm, the inertial navigation result and the geomagnetic fingerprint matching and positioning algorithm are mutually calibrated. And the position information of inertial navigation and geomagnetic calculation can be further calibrated by combining indoor map information and utilizing indoor special beacon points. The indoor precise positioning method has the advantages that the positioning is more precise, the cost is effectively saved, the indoor precise positioning method can be designed according to the specific environment requirements of a user, and the indoor precise positioning method is provided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of an indoor positioning method provided in accordance with an exemplary embodiment;
fig. 2 is a detailed flowchart of an indoor positioning method according to an exemplary embodiment;
FIG. 3 is another flow chart of an indoor positioning method provided in accordance with an exemplary embodiment;
FIG. 4 is a schematic diagram of an indoor positioning unit provided in accordance with an exemplary embodiment;
FIG. 5 is a schematic diagram of an indoor positioning apparatus provided in accordance with an exemplary embodiment;
fig. 6 is a schematic diagram of an indoor positioning system provided in accordance with an exemplary embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides an indoor positioning method, including the following steps:
101. acquiring a plane coordinate system of a target area, and determining coordinate position information of the target area;
102. starting an inertial navigation system to record real-time positioning coordinates of the moving object based on the coordinates of the starting point position in the target area;
103. correcting the real-time positioning coordinate based on a geomagnetic fingerprint matching positioning algorithm;
104. and determining whether a special beacon node exists on a motion path with the initial point position coordinate as the initial point or not based on the coordinate position information, and correcting the real-time positioning coordinate based on the coordinate of the special beacon node if the special beacon node exists.
Specifically, an Inertial Navigation System (INS) is a Navigation parameter calculation System using a gyroscope and an accelerometer as sensitive devices, and the System establishes a Navigation coordinate System according to the output of the gyroscope and calculates the speed and position of a vehicle in the Navigation coordinate System according to the output of the accelerometer, and belongs to a reckoning Navigation mode. At present, an accelerometer and a gyroscope are directly installed on a carrier by an intelligent terminal (such as a smart phone, a tablet and the like), and then position information is calculated according to a pedestrian navigation model.
The method for positioning by using the geomagnetic field is to acquire the magnetic field information in real time to obtain the positioning, and the basic method is as follows: the method comprises the steps that a target (intelligent terminal) to be positioned with geomagnetic measurement equipment measures magnetic field characteristic information in real time in the process of traveling, then, the real-time magnetic field characteristic data are compared with an environmental magnetic field reference map of a corresponding area stored in a database by using a corresponding information processing method, and the fitting degree of the real-time magnetic field characteristic data and the environmental magnetic field reference map of the corresponding area is judged according to a certain criterion. And determining the best matching position of the real-time information in the reference magnetic field reference map, and finally realizing target positioning. Similarly, the positions of inertial navigation and geomagnetic calculation can be corrected by taking map information as reference, so that the indoor positioning accuracy is further improved.
When the method is implemented, firstly, a plane coordinate system is established in a region needing to be positioned, and coordinate position information of a measured region is determined. And acquiring the magnetic field intensity of the geomagnetic triaxial to establish a geomagnetic database. And then, by means of the characteristic that the calculation position information of inertial navigation is accurate in a short time, outputting the position coordinates calculated by inertial navigation, simultaneously acquiring geomagnetic data, matching the geomagnetic data with the fingerprints of a geomagnetic database, and calculating geomagnetic positioning position coordinates. And correcting position information and corresponding parameter estimation of inertial navigation by using the position coordinates calculated by geomagnetism based on a geomagnetic fingerprint matching positioning algorithm. Meanwhile, in the whole process, whether the passing position is a special beacon node or not is judged according to a certain principle, and if the passing position is the special beacon node, the coordinate of the positioning position is corrected. The advantages of inertial navigation, geomagnetism and map information are utilized to reduce positioning errors, and the cost of design and use can be effectively reduced.
As a feasible implementation manner of the above embodiment, referring to fig. 3, the indoor positioning method based on inertial navigation, geomagnetism, and special beacon point fusion specifically includes the following steps:
step 1: firstly, determining the position coordinates of a starting point, starting an inertial navigation positioning mode, and recording the position coordinates.
Step 2: and acquiring geomagnetic data in the same way as the acquisition mode of establishing a geomagnetic database before positioning.
And step 3: position coordinate X of inertial navigation output1And determining, so that the geomagnetic fingerprint database can be quickly searched.
And 4, step 4: and calling a geomagnetic database which is consistent with the actual walking path in the geomagnetic matching stage.
And 5: and resolving geomagnetic positioning coordinates. Calculating the coordinates of the geomagnetic positioning position, matching the real-time geomagnetic data with data in a database, and according to the inertial navigation output position and the direction angle of the user, determining which line the user walks on, directly calling the geomagnetic data in the line database, and simultaneously acquiring the geomagnetic data by the terminal according to a certain sampling frequency. Searching the data most similar to the data in the database (the similarity is more than or equal to a preset threshold thred1) according to a line segment similarity matching algorithm by using the real-time data and the fingerprint database data, acquiring a corresponding position coordinate value through geomagnetic data), and recording the geomagnetic calculation position coordinate as X2. Fusing the position information of the two, then judging whether a special beacon node exists according to the existing position coordinate and map information, and if the condition is met, jumping to the step 6; otherwise, jumping to step 7.
Step 6: and the beacon node corrects the inertial navigation position. The final positioning result is the coordinate output by fusing the three.
And 7: and outputting the position coordinates of inertial navigation and geomagnetic fusion.
And 8: the position coordinates are recorded.
The geomagnetic fingerprint matching and positioning algorithm in the step 5 specifically comprises the following steps:
X＝ρ1×X2+(1-ρ1)×X1inertial navigation output coordinate is X1Calculating the coordinates of the geomagnetic positioning position, matching the geomagnetic data with data in a database in real time, and when the similarity is greater than a certain threshold value, obtaining the maximum similarity rho within a certain range1The corresponding position coordinate is marked as X2And finally, the output coordinates of the positioning are as follows: x is rho1×X2+(1-ρ1)×X1Meanwhile, inertial navigation parameter estimation needs to be corrected.
The special beacon nodes comprise inflection points and boundaries in a target area, inertial navigation always works when a user carries a terminal to walk, coordinate information is output in real time, whether the beacon nodes are arranged in advance or not is judged according to the position, whether the angle of the user deviates from an angle (the threshold value is set in advance or not) or not is judged, and the two are met and the special beacon nodes are the special beacon nodes. The coordinates of the beacon nodes are known, and the coordinate values are used for directly correcting the position coordinates output by the terminal, because the inertial navigation obtains the current coordinates based on the position and the direction recursion of the previous moment, the coordinates of the inertial navigation are corrected at the same time.
For example, most corridors in a real building are straight, and if two corridors are perpendicular to each other, a special beacon node can be set at the intersection position, if the coordinates are (5, 10). Because the inertial navigation is always working and has accumulated errors, when the user walks to the special node, the coordinates (5.4,11) output by the inertial navigation and the user generates a drift angle of 90 degrees. Firstly, the user deflection angle is judged to be larger than angle (the threshold value can be set to be 75 degrees), a beacon node exists in the position of inertial navigation output near the corresponding position of the map, namely the beacon node is considered to be the beacon node, the position coordinate output by the user is directly corrected to be (5,10) by the coordinate (5,10), and meanwhile, the inertial navigation coordinate is also corrected to be (5, 10).
In some embodiments of the present invention, the measurement of the relevant data is performed by collecting information on characteristic quantities of the accelerometer sensor, the gyroscope sensor, and the magnetometer sensor in various directions. And resolving continuous position coordinates by adopting an inertial navigation principle according to data output by the nine-axis sensor. Meanwhile, fingerprint matching positioning is carried out by utilizing the magnetic field strength values of the three axes of the magnetometer, real-time magnetic field characteristic data are compared with the corresponding area environment magnetic field reference map stored in the database, the similarity of the real-time magnetic field characteristic data and the corresponding area environment magnetic field reference map is judged according to a certain criterion, if the similarity is greater than a preset threshold value, the inertial navigation position and corresponding parameters are corrected by using the geomagnetic positioning position information, and a corresponding position result is output. Then, the existing information of the map is utilized, and when the condition of a special beacon point is met, the position result is directly corrected by using the position of the beacon point; and if the beacon node condition is not met, the final result is position information after inertial navigation and geomagnetic fusion.
The acquired accelerometer data comprise respective acceleration values of three axes of an x axis, a y axis and a z axis and a combined acceleration value of three axes of the x axis, the y axis and the z axis, and the unit of the acceleration value is m/s2And angular velocity values of three axes of an x axis, a y axis and a z axis of the gyroscope are calculated by using the inertial navigation positioning principle, wherein the unit is rad/s. The magnetometer outputs the magnetic field strength values of an x axis, a y axis and a z axis and the resultant magnetic field strength value of the x/y/z three axes, the unit is uT, the inertial navigation resolving position is mainly acceleration and gyroscope data, and the direction is magnetometer data. The geomagnetic positioning is mainly carried out by matching a triaxial value and a triaxial resultant magnetic field strength value of a magnetometer with a database.
The magnetometer sets a certain frequency to acquire geomagnetic data, moves from the end A to the end B of the line at a normal walking speed, can obtain the geomagnetic data from the end B to the end A of a corresponding line segment, and establishes a database or is matched with the database in a real-time positioning stage. The positioning area establishes a plane coordinate system, and the coordinate position information of the measured area is known, so that the position correction results of some special beacon points can be utilized. Such as inflection points, map boundary coordinates, and the like.
Referring to fig. 2, in other embodiments of the present invention, an indoor positioning method includes the steps of:
201. acquiring a plane coordinate system of a target area, and determining coordinate position information of the target area;
202. starting an inertial navigation system to record real-time positioning coordinates of the moving object based on the coordinates of the starting point position in the target area;
203. correcting the real-time positioning coordinate based on a geomagnetic fingerprint matching positioning algorithm;
204. determining whether a special beacon node exists on a motion path with the initial point position coordinate as a starting point or not based on the coordinate position information, and correcting the real-time positioning coordinate based on the coordinate of the special beacon node if the special beacon node exists;
205. and if no special beacon node exists, outputting the real-time positioning coordinate corrected based on the geomagnetic fingerprint matching positioning algorithm.
Based on the same design idea, referring to fig. 4, an embodiment of the present invention further provides an indoor positioning device, which can be applied to intelligent devices such as computers for use, and includes:
the coordinate determination module is used for acquiring a plane coordinate system of the target area and determining coordinate position information of the target area;
the inertial navigation positioning module is used for starting an inertial navigation system to record the real-time positioning coordinates of the moving object based on the starting point position coordinates in the target area;
the geomagnetic correction module is used for correcting the real-time positioning coordinate based on a geomagnetic fingerprint matching positioning algorithm; and
and the special beacon node correction module is used for determining whether a special beacon node exists on a motion path with the initial point position coordinate as the initial point or not based on the coordinate position information, and correcting the real-time positioning coordinate based on the coordinate of the special beacon node if the special beacon node exists. The specific implementation manner of the indoor positioning method provided in the above embodiments can be referred to, and the present invention is not described herein again.
Referring to fig. 5, an embodiment of the present invention further provides an indoor positioning apparatus, including:
a processor, and a memory coupled to the processor;
the memory is used for storing a computer program for performing at least the indoor positioning method provided by the above embodiments.
In order to adapt to the indoor positioning device provided in the foregoing implementation, referring to fig. 6, an embodiment of the present invention further provides an indoor positioning system, including the indoor positioning device described in the foregoing embodiment, and an accelerometer, a gyroscope, and a magnetometer connected to the indoor positioning device.
It is understood that the characteristic quantity information and the magnetic field strength information in each direction can also be acquired by other sensors or devices known in the art, and the invention is not limited thereto.
The indoor positioning method, the device, the equipment and the system provided by the embodiment of the invention aim at that the inertial navigation indoor positioning method can only provide relative movement distance and can generate error accumulation, so that other information sources are required to correct the position and the direction of inertial navigation, and the position and the direction of inertial navigation are mutually calibrated with the inertial navigation result by utilizing the strong differentiation of geomagnetic signals and adopting a positioning method based on fingerprint matching. And the position information of inertial navigation and geomagnetic calculation can be further calibrated by combining indoor map information and utilizing indoor special beacon points. The indoor accurate positioning method can be designed according to the specific environmental requirements of users.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An indoor positioning method, comprising:
acquiring a plane coordinate system of a target area, and determining coordinate position information of the target area;
starting an inertial navigation system to record real-time positioning coordinates of the moving object based on the coordinates of the starting point position in the target area;
correcting the real-time positioning coordinates based on a geomagnetic fingerprint matching positioning algorithm;
and determining whether a special beacon node exists on a motion path with the initial point position coordinate as the initial point or not based on the coordinate position information, and correcting the real-time positioning coordinate based on the coordinate of the special beacon node if the special beacon node exists.
2. The indoor positioning method of claim 1, wherein the starting of an inertial navigation system to record real-time positioning coordinates based on the coordinates of the start point position in the target area comprises:
and solving the real-time positioning coordinate by adopting an inertial navigation positioning principle based on respective acceleration values of three axes of an x axis, a y axis and a z axis of the accelerometer, combined acceleration values of three axes of the x axis, the y axis and the z axis and angular velocity values of three axes of the x axis, the y axis and the z axis of the gyroscope.
3. The indoor positioning method of claim 2, wherein the correcting the real-time positioning coordinates based on the geomagnetic fingerprint matching and positioning algorithm comprises:
acquiring the geomagnetic triaxial magnetic field intensity in the target area, and establishing a geomagnetic database;
judging similarity based on the real-time magnetic field characteristic data of the moving object and the magnetic field reference map of the target area in the geomagnetic database;
and if the similarity is greater than a preset value, correcting the real-time positioning coordinate based on the geomagnetic fingerprint matching positioning algorithm, and outputting a corresponding position result.
4. The indoor positioning method according to claim 3, wherein the geomagnetic fingerprint matching and positioning algorithm comprises:
X＝ρ1×X2+(1-ρ1)×X1；
wherein, X1Outputting the real-time position for the inertial navigation systemSetting coordinates; x2The corresponding position coordinate is larger than the preset value; rho1Is the similarity value; x is the corrected coordinate value.
5. The indoor positioning method according to claim 4, wherein the geomagnetic triaxial field strength is measured based on the magnetic field strength values of the three axes x, y and z output from the magnetometer and the resultant magnetic field strength values of the three axes x, y and z.
6. The indoor positioning method according to claim 5, wherein the special beacon node includes an inflection point and a boundary within the target area.
7. The indoor positioning method according to any one of claims 1 to 6, further comprising: and if the special beacon node does not exist, outputting the real-time positioning coordinate corrected based on the geomagnetic fingerprint matching and positioning algorithm.
8. An indoor positioning device, comprising:
the coordinate determination module is used for acquiring a plane coordinate system of a target area and determining coordinate position information of the target area;
the inertial navigation positioning module is used for starting an inertial navigation system to record the real-time positioning coordinates of the moving object based on the initial point position coordinates in the target area;
the geomagnetic correction module is used for correcting the real-time positioning coordinate based on a geomagnetic fingerprint matching positioning algorithm; and
and the special beacon node correction module is used for determining whether a special beacon node exists on a motion path taking the initial point position coordinate as a starting point or not based on the coordinate position information, and correcting the real-time positioning coordinate based on the coordinate of the special beacon node if the special beacon node exists.
9. An indoor positioning apparatus, comprising:
a processor, and a memory coupled to the processor;
the memory is adapted to store a computer program for performing at least the indoor positioning method of any of claims 1-7.
10. An indoor positioning system, comprising the indoor positioning device of claim 9, and an accelerometer, a gyroscope, and a magnetometer connected to the indoor positioning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011209793.XA CN112362044A (en) | 2020-11-03 | 2020-11-03 | Indoor positioning method, device, equipment and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011209793.XA CN112362044A (en) | 2020-11-03 | 2020-11-03 | Indoor positioning method, device, equipment and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112362044A true CN112362044A (en) | 2021-02-12 |
Family
ID=74513446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011209793.XA Pending CN112362044A (en) | 2020-11-03 | 2020-11-03 | Indoor positioning method, device, equipment and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112362044A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112985394A (en) * | 2021-05-12 | 2021-06-18 | 腾讯科技（深圳）有限公司 | Positioning method and device, and storage medium |
| CN115661971A (en) * | 2022-12-27 | 2023-01-31 | 长江空间信息技术工程有限公司(武汉) | Intelligent inspection method and device, computing equipment and storage medium |
| CN116153135A (en) * | 2023-04-04 | 2023-05-23 | 湖南桅灯机器人有限公司 | Map navigation method and system applied to underground parking garage |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070074056A1 (en) * | 2005-05-05 | 2007-03-29 | Gary Gottlieb | Low power electronic circuit incorporating real time clock |
| CN103278170A (en) * | 2013-05-16 | 2013-09-04 | 东南大学 | Mobile robot cascading map building method based on remarkable scenic spot detection |
| CN106123892A (en) * | 2016-06-22 | 2016-11-16 | 武汉科技大学 | A kind of robot localization method based on wireless sensor network Yu earth magnetism map |
| CN107421546A (en) * | 2017-08-25 | 2017-12-01 | 北京麦钉艾特科技有限公司 | A kind of passive combined positioning method based on space environment magnetic signature |
| CN109341682A (en) * | 2018-11-12 | 2019-02-15 | 浙江工业大学 | A method of improving earth's magnetic field positioning accuracy |
| CN109708647A (en) * | 2019-03-08 | 2019-05-03 | 哈尔滨工程大学 | A kind of indoor topological map pedestrian localization method based on fusion feature element |
| CN109916396A (en) * | 2019-04-04 | 2019-06-21 | 南京邮电大学 | A kind of indoor orientation method based on multidimensional Geomagnetism Information |
| CN110081888A (en) * | 2019-05-15 | 2019-08-02 | 华南师范大学 | A kind of indoor positioning algorithms of inertial navigation and earth magnetism fusion based on confidence level |
-
2020
- 2020-11-03 CN CN202011209793.XA patent/CN112362044A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070074056A1 (en) * | 2005-05-05 | 2007-03-29 | Gary Gottlieb | Low power electronic circuit incorporating real time clock |
| CN103278170A (en) * | 2013-05-16 | 2013-09-04 | 东南大学 | Mobile robot cascading map building method based on remarkable scenic spot detection |
| CN106123892A (en) * | 2016-06-22 | 2016-11-16 | 武汉科技大学 | A kind of robot localization method based on wireless sensor network Yu earth magnetism map |
| CN107421546A (en) * | 2017-08-25 | 2017-12-01 | 北京麦钉艾特科技有限公司 | A kind of passive combined positioning method based on space environment magnetic signature |
| CN109341682A (en) * | 2018-11-12 | 2019-02-15 | 浙江工业大学 | A method of improving earth's magnetic field positioning accuracy |
| CN109708647A (en) * | 2019-03-08 | 2019-05-03 | 哈尔滨工程大学 | A kind of indoor topological map pedestrian localization method based on fusion feature element |
| CN109916396A (en) * | 2019-04-04 | 2019-06-21 | 南京邮电大学 | A kind of indoor orientation method based on multidimensional Geomagnetism Information |
| CN110081888A (en) * | 2019-05-15 | 2019-08-02 | 华南师范大学 | A kind of indoor positioning algorithms of inertial navigation and earth magnetism fusion based on confidence level |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112985394A (en) * | 2021-05-12 | 2021-06-18 | 腾讯科技（深圳）有限公司 | Positioning method and device, and storage medium |
| CN112985394B (en) * | 2021-05-12 | 2021-08-06 | 腾讯科技（深圳）有限公司 | Positioning method and device, and storage medium |
| CN115661971A (en) * | 2022-12-27 | 2023-01-31 | 长江空间信息技术工程有限公司(武汉) | Intelligent inspection method and device, computing equipment and storage medium |
| CN116153135A (en) * | 2023-04-04 | 2023-05-23 | 湖南桅灯机器人有限公司 | Map navigation method and system applied to underground parking garage |
| CN116153135B (en) * | 2023-04-04 | 2023-10-20 | 湖南朗赫科技有限公司 | Map navigation method and system applied to underground parking garage |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109298389B (en) | Indoor pedestrian combination pose estimation method based on multi-particle swarm optimization | |
| CN112362044A (en) | Indoor positioning method, device, equipment and system | |
| Shi et al. | A robust pedestrian dead reckoning system using low-cost magnetic and inertial sensors | |
| US11035915B2 (en) | Method and system for magnetic fingerprinting | |
| CN104180805A (en) | Smart phone-based indoor pedestrian positioning and tracking method | |
| US10557711B2 (en) | Apparatus for inferring pedestrian position based on pedestrian movement detection, and method therefor | |
| KR102226846B1 (en) | System for Positioning Hybrid Indoor Localization Using Inertia Measurement Unit Sensor and Camera | |
| CN108020813B (en) | Positioning method, positioning device and electronic equipment | |
| KR101576424B1 (en) | Automatic calibration method of magnetometer for indoor positioning | |
| You et al. | Hybrid indoor positioning system for pedestrians with swinging arms based on smartphone IMU and RSSI of BLE | |
| Poulose et al. | Indoor localization using PDR with Wi-Fi weighted path loss algorithm | |
| CN109001789B (en) | Unmanned vehicle positioning fusion method based on cross-correlation entropy registration | |
| CN112637762A (en) | Indoor fusion positioning method based on improved PDR algorithm | |
| CN112729301A (en) | Indoor positioning method based on multi-source data fusion | |
| KR20190081334A (en) | Method for tracking moving trajectory based on complex positioning and apparatus thereof | |
| CN112767545A (en) | Point cloud map construction method, device, equipment and computer storage medium | |
| CN109737957B (en) | INS/LiDAR combined navigation method and system adopting cascade FIR filtering | |
| KR20220025585A (en) | Method and apparatus for estimating position | |
| KR101470762B1 (en) | Apparatus and method for location tracking | |
| KR101140045B1 (en) | Method and apparatus for tracking user location | |
| US10830906B2 (en) | Method of adaptive weighting adjustment positioning | |
| JP6653151B2 (en) | Heading direction estimation system | |
| CN110579212B (en) | Indoor positioning method and device | |
| KR102100891B1 (en) | Method for estimating indoor position using smartphone, system and computer readable medium for performing the method | |
| KR20190112929A (en) | System and method for estimating heading orientation, computer readable medium for performing the 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 |
Application publication date: 20210212 |
|
| RJ01 | Rejection of invention patent application after publication |