CN113670311A - Indoor pedestrian state perception and positioning tracking system, method, equipment and medium - Google Patents
Indoor pedestrian state perception and positioning tracking system, method, equipment and medium Download PDFInfo
- Publication number
- CN113670311A CN113670311A CN202110865471.9A CN202110865471A CN113670311A CN 113670311 A CN113670311 A CN 113670311A CN 202110865471 A CN202110865471 A CN 202110865471A CN 113670311 A CN113670311 A CN 113670311A
- Authority
- CN
- China
- Prior art keywords
- module
- real
- time data
- value
- indoor
- 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
- 230000008447 perception Effects 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 title claims description 25
- 238000005259 measurement Methods 0.000 claims abstract description 29
- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 38
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 238000011160 research Methods 0.000 abstract description 4
- 238000002474 experimental method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- ONUFESLQCSAYKA-UHFFFAOYSA-N iprodione Chemical compound O=C1N(C(=O)NC(C)C)CC(=O)N1C1=CC(Cl)=CC(Cl)=C1 ONUFESLQCSAYKA-UHFFFAOYSA-N 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 239000013598 vector Substances 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an indoor pedestrian state perception and positioning tracking system, which comprises: the mobile terminal is provided with a plurality of mobile terminals; the mobile terminal comprises an inertia measurement module, a sensor acquisition module, a communication module, a serial port module and a monitoring application module; the sensor acquisition module acquires real-time data generated by the inertia measurement module and then sends the real-time data to the monitoring application module through the serial port module; the monitoring application module reads the real-time data of the serial port module and analyzes and judges the real-time data; the real-time status information and the information of the floor where the monitored personnel are located can be checked through connecting the communication module. The invention can realize real-time monitoring and position positioning tracking of indoor pedestrian states, does not need to arrange a monitoring environment in advance, does not need to restrict the monitored pedestrian condition in advance, has low cost and strong reliability, is expected to provide a brand new research direction for indoor positioning, and has profound and remote significance.
Description
Technical Field
The invention relates to the technical field of indoor navigation, in particular to a system, a method, equipment and a medium for sensing, positioning and tracking indoor pedestrian states.
Background
It is known that the GPS/BD positioning and navigation system cannot be normally used indoors due to various factors such as complicated indoor environments and signal interference. However, in real life, people are mostly indoor, and therefore, it is a research hotspot of scientists to study the indoor personnel state and to perform indoor high-precision positioning and tracking. Along with the proposal that the state is greatly promoting novel intelligent city construction, the adoption of data calculation and analysis acquired by an inertial sensor (IMU sensor) to realize behavior recognition of indoor personnel is also a new research direction in the field of mode recognition, and has wide application prospect in monitoring the real-time state of old people in a nursing home, monitoring the indoor state of prisoners and assisting the disaster relief of hospitals and indoor firefighters.
Through retrieval, patent document CN108444473B discloses a pedestrian indoor track positioning method, which includes the following steps of acquiring three-axis acceleration, three-axis angular velocity and three-axis magnetic induction intensity under a carrier coordinate system by using a sensor as a data source, wherein the three axes are an X axis, a Y axis and a Z axis; step counting and gait detection are carried out; calculating a course angle, and correcting the course angle based on the main direction: when a straight line is taken, correcting a course angle by using a heuristic random drift elimination method; when a curve is traced, offset compensation is carried out by using an extended Kalman filter, and a course angle is corrected; establishing a nonlinear step length estimation model according to the triaxial acceleration, and calculating the step length in the advancing process; and calculating the walking track and position of the pedestrian according to the gait, the number of the advancing steps, the course angle and the step length. Although this prior art also uses nine-axis sensor data to locate the indoor pedestrian trajectory, it does not relate to and address the monitoring of the behavior state of the monitored person and the information of the height of the monitored person.
Patent document CN104634345B discloses an indoor track tracking method with adaptive step length, which judges whether the vehicle is in a walking state by setting the initial speed and the end speed of each step to be zero, and if so, collects the number of accelerations in each step, and calculates and obtains the step length of the first step according to the acceleration and the sampling time of the acceleration; and combining the direction of each step, and superposing the vectors of each step to obtain the motion track. The prior art estimates the step length of the pedestrian by adopting a self-adaptive mechanism, has the defects of obvious defect, large calculated amount and single realized function.
Patent document CN107976187B discloses an indoor trajectory reconstruction method and system fusing an IMU and a visual sensor, including: receiving real-time acquisition data sent by an IMU; predicting and optimizing the motion trail of the pedestrian according to the real-time collected data; receiving indoor environment information acquired by a visual sensor; and positioning and correcting the motion trail of the pedestrian according to the indoor environment information and the real-time collected data, and reconstructing to obtain the final motion trail of the pedestrian. In the prior art, IMU data is used for indoor track reconstruction, but the height and weight ratio of pedestrians need to be preset in an actual method and an implementation process, so that the prior art is not universal and is difficult to be practically applied.
Therefore, it is necessary to develop a high-precision indoor positioning system and method with low cost, low power consumption, high stability and no need of arranging a monitoring environment in advance.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a system, a method, equipment and a medium for sensing, positioning and tracking the indoor pedestrian state, so that the real-time monitoring and position positioning and tracking of the indoor pedestrian state are realized, the monitoring environment does not need to be arranged in advance, the condition of the monitored pedestrian does not need to be restrained in advance, the cost is low, the reliability is strong, a brand new research direction is expected to be provided for indoor positioning, and the system, the method, the equipment and the medium have profound significance.
The invention provides an indoor pedestrian state perception and positioning tracking system, which comprises: the mobile terminal is provided with a plurality of mobile terminals; the mobile terminal comprises an inertia measurement module, a sensor acquisition module, a communication module, a serial port module and a monitoring application module; the sensor acquisition module acquires real-time data generated by the inertia measurement module and then sends the real-time data to the monitoring application module through the serial port module; the monitoring application module obtains the state information of the monitored personnel and the information of the floor where the monitored personnel are located by reading the real-time data of the serial port module and analyzing and judging the real-time data; the real-time status information and the information of the floor where the monitored personnel are located can be checked through connecting the communication module.
Preferably, the inertial measurement module generates three-axis acceleration values, three-axis gyroscope values, three-axis magnetometers and barometer values in real time.
Preferably, the sensor acquisition module accesses a register of the inertial measurement module in real time through a serial bus protocol, and obtains real-time data generated by the inertial measurement module by reading a value of the register.
Preferably, the sensor acquisition module adopts a single chip microcomputer or an ARM processor.
The invention provides an indoor pedestrian state perception and positioning tracking method, which comprises the following steps:
step S1: the communication module is connected to check the real-time state information and the information of the floor where the monitored personnel are located;
step S2: the sensor acquisition module acquires real-time data generated by the inertia measurement module;
step S3: the sensor acquisition module transmits real-time data to the monitoring application module through the serial port module after acquiring the real-time data;
step S4: the monitoring application module reads the real-time data of the serial port module and analyzes and judges the real-time data.
Preferably, in step S2, the sensor acquisition module obtains real-time triaxial acceleration value, triaxial gyroscope value, triaxial magnetometers value, and barometer value data by reading the value of the register of the inertial measurement module, and integrates and packages the data and transmits the data through the serial port module.
Preferably, step S4 includes:
step S4.1: after the triaxial acceleration value passes through a low-pass filter, integrating triaxial acceleration and subtracting gravity acceleration to obtain a resultant acceleration;
step S4.2: the barometer value is converted into a height value data,
pHis the atmospheric pressure value corresponding to the height H, and the unit is Pa, p0Is standard altitude atmospheric pressure, with a corresponding altitude of 0;
step S4.3: the data values on the carrier coordinate system are acquired by accessing the register of the inertial measurement unit module, and the acquired data are subjected to coordinate system conversion before algorithm addition.
According to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the above-mentioned method steps.
According to the indoor pedestrian state sensing and positioning and tracking device provided by the invention, the indoor pedestrian state sensing and positioning and tracking system or the computer readable storage medium storing the computer program is included.
Preferably, the device further comprises an inertia measurer, wherein the inertia measurer is provided with the model number ADIS 16488A.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the floor information of indoor personnel is brought into the indoor personnel state detection range for the first time through the real-time monitoring and position positioning tracking of the indoor pedestrian state.
2. According to the invention, the information such as the walking steps and the step length of the personnel is calculated by utilizing the acquired data acquired by the inertia measurement module in an indoor environment, the physical characteristic information of the monitored object does not need to be set in advance, and the method has the advantages of strong universality, high accuracy and wide application range.
3. The invention utilizes the collected data to calculate the real-time state of the personnel, including static state, walking state, running state, lying state and the like, and can master and know the state information of the monitored object in real time through the communication module.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a block diagram of an indoor pedestrian state sensing and location tracking system according to the present invention;
fig. 2 is a flow chart of indoor pedestrian motion state perception determination in the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the present invention provides an indoor pedestrian state sensing and positioning tracking system, which includes: the mobile terminal is provided with a plurality of mobile terminals.
The mobile terminal comprises an inertia measurement module, a sensor acquisition module, a communication module, a serial port module and a monitoring application module; the sensor acquisition module acquires real-time data generated by the inertia measurement module and then sends the real-time data to the monitoring application module through the serial port module; the monitoring application module reads the real-time data of the serial port module and analyzes and judges the real-time data; the real-time status information and the information of the floor where the monitored personnel are located can be checked through connecting the communication module.
The inertial measurement module can generate a triaxial acceleration value, a triaxial gyroscope value, a triaxial magnetometers value and an barometers value in real time. The sensor acquisition module accesses a register of the inertia measurement module in real time through a serial bus protocol, and obtains real-time data generated by the inertia measurement module by reading the value of the register. The sensor acquisition module adopts a single chip microcomputer or an ARM processor.
The invention also provides an indoor pedestrian state perception and positioning tracking method, which comprises the following steps:
step S1: the real-time status information and the information of the floor where the monitored personnel are located can be checked through connecting the communication module. The inertial measurement module can generate triaxial acceleration values, triaxial gyroscope values, triaxial magnetometers and barometer data in real time.
Step S2: the sensor acquisition module acquires real-time data generated by the inertia measurement module; the sensor acquisition module accesses a register of the inertia measurement module in real time through a serial bus protocol, obtains the current triaxial acceleration value, triaxial gyroscope value, triaxial magnetometers value and barometer value data by reading the value of the register, integrates and packages the data, and sends the data through a serial port module; the sensor acquisition module is a single chip microcomputer or an ARM processor.
Step S3: the sensor acquisition module transmits real-time data to the monitoring application module through the serial port module after acquiring the real-time data;
step S4: and the monitoring application module reads the real-time data of the serial port module and analyzes and judges the real-time data. Specifically, as shown in fig. 2, the method includes the following steps:
step S4.1: and after the triaxial acceleration value passes through a low-pass filter, integrating triaxial acceleration and subtracting gravity acceleration to obtain a resultant acceleration so as to avoid errors caused by the acceleration in the gravity direction. Before the personnel state is judged, three acceleration threshold values are set, the personnel state is judged to be in a static state when the combined acceleration is smaller than a first acceleration threshold value, the personnel state is judged to be in a walking state when the combined acceleration is larger than the first acceleration threshold value and smaller than a second acceleration threshold value, and the personnel state is judged to be in a running state when the combined acceleration is larger than the second acceleration threshold value and smaller than a third acceleration threshold value.
Step S4.2: the barometer value is converted into a height value data,
pHis the atmospheric pressure value corresponding to the height H, and the unit is Pa, p0Is standard altitude atmospheric pressure, with a corresponding altitude of 0; and when the combined acceleration value is greater than a third acceleration threshold value, the time of the last wave peak is greater than 0.4s, and the difference between the height value corresponding to the time of the last wave peak and the height value corresponding to the time of the monitored wave peak meets a certain condition, the state is a lying state.
Step S4.3: the data values on the carrier coordinate system are acquired by accessing the registers of the inertial measurement unit module, so that the acquired data are subjected to coordinate system conversion before algorithm addition is carried out. I.e. down-conversion from the carrier coordinate system (system b) to the navigation coordinate system (system n), i.e.
Wherein
Is a state transition matrix of the system, abIs a carrier coordinate system, anFor navigating the coordinate system, the specific formula is as follows:
wherein,
is a course angle, theta is a pitch angle, and gamma is a roll angle. The values of θ and γ are obtained by the sensor.
Where here is a quaternion coordinate transformation matrix representation, q0，q1，q2，q3And the four-element coefficient is the attitude four-element coefficient of the motion carrier.
Thus, the heading angle may be expressed as:
wherein, amaxFor single step combined acceleration maximum, aminIs the minimum value of single-step intermediate acceleration, k and mu are undetermined coefficients, LsteplengthIn steps of a single step.
Wherein, XkIs the abscissa of time k, SkStep size at time k, θkIs the angle at time k.
The air pressure value is converted into a height value, the height value data at the moment of starting monitoring is recorded, when a monitored person goes upstairs or downstairs, the corresponding height value changes, and the height value recorded at the moment of starting monitoring are subjected to floor determination algorithm to perform floor positioning.
The invention makes statistics on the actual measurement data of indoor pedestrian state perception and positioning tracking as follows:
TABLE 1 motion State perception experiment
Table 1 shows the exercise status sensing experiment, 4 testers with different heights and weights and both men and women were selected to perform the experiments of 50 steps in a straight line, 50 steps in a running line and 10 times in a lying line respectively twice.
TABLE 2 floor location experiment data comparison
Table 2 shows comparison of floor positioning experimental data, in which a tester starts to walk up from a first-floor stair, records and measures height data when walking to a second-floor stair, and then continuously walks from the second-floor stair to the third-floor stair to record the height data again, and continuously walks from the third-floor stair to the fourth-floor stair to record the height data;
TABLE 3 indoor 100 m positioning experiment data comparison
Table 3 shows the comparison of indoor 100 m positioning experimental data, and three indoor buildings were selected, which are: indoor corridor, underground garage, shopping mall etc. compare more common indoor environment, 4 testers carry out the straight line respectively and walk 100 meters in three kinds of indoor environment, and the software will carry out pedestrian position tracking distance comparison in real time.
The invention further provides a computer-readable storage medium having a computer program stored thereon, which, when being executed by a processor, carries out the steps of the method as described above.
The invention further provides an indoor pedestrian state sensing and positioning and tracking device, which comprises the indoor pedestrian state sensing and positioning and tracking system or the computer-readable storage medium with the computer program stored therein. Also comprises an inertia measurer, and the model of the inertia measurer is 16488A.
The invention can analyze the track of the indoor personnel and also adds a motion state sensing system of the indoor personnel, thereby mastering the floor and motion posture of the personnel in real time. The invention has more comprehensive, specific and diversified performances.
The invention explains the implementation mode of detecting the motion attitude of the indoor pedestrian in detail and also increases the function of judging the floor information of the indoor pedestrian, and the invention has more comprehensive and concrete performance.
The invention adopts a more classical nonlinear step length estimation model in the step length estimation, and carries out certain correction on the model, thereby effectively reducing the gait detection error and improving the step length estimation precision.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An indoor pedestrian state perception and location tracking system, comprising: the mobile terminal is provided with a plurality of mobile terminals;
the mobile terminal comprises an inertia measurement module, a sensor acquisition module, a communication module, a serial port module and a monitoring application module;
the sensor acquisition module acquires real-time data generated by the inertia measurement module and then sends the real-time data to the monitoring application module through the serial port module;
the monitoring application module obtains the state information and the floor information of the monitored personnel by reading the real-time data of the serial port module and analyzing and judging the real-time data;
the communication module can be connected to check the real-time state information and the information of the floor where the monitored personnel are located.
2. The indoor pedestrian state sensing and location tracking system of claim 1, wherein the inertial measurement module generates three-axis acceleration values, three-axis gyroscope values, three-axis magnetometers and barometer values in real time.
3. The indoor pedestrian state sensing, positioning and tracking system according to claim 1, wherein the sensor acquisition module accesses a register of the inertial measurement module in real time through a serial bus protocol, and obtains real-time data generated by the inertial measurement module by reading a value of the register.
4. The indoor pedestrian state sensing, positioning and tracking system of claim 1, wherein the sensor acquisition module employs a single-chip microcomputer or an ARM processor.
5. An indoor pedestrian state perception and positioning tracking method is characterized by comprising the following steps:
step S1: the communication module is connected to check the real-time state information and the information of the floor where the monitored personnel are located;
step S2: the sensor acquisition module acquires real-time data generated by the inertia measurement module;
step S3: the sensor acquisition module transmits real-time data to the monitoring application module through the serial port module after acquiring the real-time data;
step S4: the monitoring application module reads the real-time data of the serial port module and analyzes and judges the real-time data.
6. The indoor pedestrian state sensing, positioning and tracking method according to claim 5, wherein in step S2, the sensor acquisition module obtains real-time three-axis acceleration value, three-axis gyroscope value, three-axis magnetometers value and barometer value data by reading the value of the register of the inertial measurement module, and integrates and packages the data and sends out the data through the serial port module.
7. The indoor pedestrian state sensing and location tracking method according to claim 6, wherein the step S4 includes:
step S4.1: after the triaxial acceleration value passes through a low-pass filter, integrating triaxial acceleration and subtracting gravity acceleration to obtain a resultant acceleration;
step S4.2: the barometer value is converted into a height value data,
pHis the atmospheric pressure value corresponding to the height H, and the unit is Pa, p0Is standard altitude atmospheric pressure, with a corresponding altitude of 0;
step S4.3: the data values on the carrier coordinate system are acquired by accessing the register of the inertial measurement unit module, and the acquired data are subjected to coordinate system conversion before algorithm addition.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 5 to 7.
9. An indoor pedestrian state perception and location tracking device, comprising the indoor pedestrian state perception and location tracking system of any one of claims 1 to 4 or the computer readable storage medium of claim 8 having a computer program stored thereon.
10. The indoor pedestrian state sensing and location tracking device of claim 9, further comprising an inertial measurer, model number ADIS 16488A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110865471.9A CN113670311A (en) | 2021-07-29 | 2021-07-29 | Indoor pedestrian state perception and positioning tracking system, method, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110865471.9A CN113670311A (en) | 2021-07-29 | 2021-07-29 | Indoor pedestrian state perception and positioning tracking system, method, equipment and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113670311A true CN113670311A (en) | 2021-11-19 |
Family
ID=78540705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110865471.9A Pending CN113670311A (en) | 2021-07-29 | 2021-07-29 | Indoor pedestrian state perception and positioning tracking system, method, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113670311A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076619A (en) * | 2012-12-27 | 2013-05-01 | 山东大学 | System and method for performing indoor and outdoor 3D (Three-Dimensional) seamless positioning and gesture measuring on fire man |
| CN103411607A (en) * | 2013-08-30 | 2013-11-27 | 华中师范大学 | Method for pedestrian step size estimation and dead reckoning |
| CN105929860A (en) * | 2016-07-07 | 2016-09-07 | 上海海事大学 | Naval vessel sea condition dynamic simulator control system |
| CN107084718A (en) * | 2017-04-14 | 2017-08-22 | 桂林电子科技大学 | Indoor orientation method based on pedestrian's reckoning |
| CN107345813A (en) * | 2017-07-07 | 2017-11-14 | 江苏奥斯威尔信息科技有限公司 | A kind of indoor plane figure construction method based on MT PDR and intensity signal |
| CN107478222A (en) * | 2017-09-01 | 2017-12-15 | 南京理工大学 | A kind of wireless wearable human attitude monitoring system based on MEMS technology |
| CN107898466A (en) * | 2017-10-17 | 2018-04-13 | 深圳大学 | A kind of limb motion based on inertial sensor catches system and method |
| CN108444473A (en) * | 2018-03-20 | 2018-08-24 | 南京华苏科技有限公司 | Track localization method in a kind of pedestrian room |
| CN111829516A (en) * | 2020-07-24 | 2020-10-27 | 大连理工大学 | Autonomous pedestrian positioning method based on smart phone |
| CN112733643A (en) * | 2020-12-30 | 2021-04-30 | 青岛精安医疗科技有限责任公司 | Oxygen supply control method and device based on triaxial acceleration sensor and storage medium |
-
2021
- 2021-07-29 CN CN202110865471.9A patent/CN113670311A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103076619A (en) * | 2012-12-27 | 2013-05-01 | 山东大学 | System and method for performing indoor and outdoor 3D (Three-Dimensional) seamless positioning and gesture measuring on fire man |
| CN103411607A (en) * | 2013-08-30 | 2013-11-27 | 华中师范大学 | Method for pedestrian step size estimation and dead reckoning |
| CN105929860A (en) * | 2016-07-07 | 2016-09-07 | 上海海事大学 | Naval vessel sea condition dynamic simulator control system |
| CN107084718A (en) * | 2017-04-14 | 2017-08-22 | 桂林电子科技大学 | Indoor orientation method based on pedestrian's reckoning |
| CN107345813A (en) * | 2017-07-07 | 2017-11-14 | 江苏奥斯威尔信息科技有限公司 | A kind of indoor plane figure construction method based on MT PDR and intensity signal |
| CN107478222A (en) * | 2017-09-01 | 2017-12-15 | 南京理工大学 | A kind of wireless wearable human attitude monitoring system based on MEMS technology |
| CN107898466A (en) * | 2017-10-17 | 2018-04-13 | 深圳大学 | A kind of limb motion based on inertial sensor catches system and method |
| CN108444473A (en) * | 2018-03-20 | 2018-08-24 | 南京华苏科技有限公司 | Track localization method in a kind of pedestrian room |
| CN111829516A (en) * | 2020-07-24 | 2020-10-27 | 大连理工大学 | Autonomous pedestrian positioning method based on smart phone |
| CN112733643A (en) * | 2020-12-30 | 2021-04-30 | 青岛精安医疗科技有限责任公司 | Oxygen supply control method and device based on triaxial acceleration sensor and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| 秦永元: "《惯性导航（第二版）》", vol. 2014, 31 January 2014, 科学出版社, pages: 250 * |
| 苏中等: "《自主定位定向技术》", vol. 2015, 31 January 2015, 国防工业出版社, pages: 21 - 23 * |
| 蒋博等: "基于腰部MEMS加速度计的多阈值步数检测算法", 《探索与观察》, 30 March 2020 (2020-03-30), pages 45 - 46 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107289941B (en) | Inertial navigation-based indoor positioning method and device | |
| US11041725B2 (en) | Systems and methods for estimating the motion of an object | |
| US10533857B2 (en) | User terminal and control method thereof | |
| CN106643739B (en) | Indoor environment personnel positioning method and system | |
| CN110398245B (en) | Indoor pedestrian navigation attitude estimation method based on foot-worn inertial measurement unit | |
| Shi et al. | A robust pedestrian dead reckoning system using low-cost magnetic and inertial sensors | |
| CN106595633B (en) | Indoor orientation method and device | |
| CN104296750A (en) | Zero speed detecting method, zero speed detecting device, and pedestrian navigation method as well as pedestrian navigation system | |
| US20140316708A1 (en) | Oriented Wireless Structural Health and Seismic Monitoring | |
| CN104596504A (en) | Method and system for quickly setting up map to assist indoor positioning under emergency rescue scene | |
| CN104713554A (en) | Indoor positioning method based on MEMS insert device and android smart mobile phone fusion | |
| CN107490378B (en) | Indoor positioning and navigation method based on MPU6050 and smart phone | |
| CN107014375B (en) | Indoor positioning system and method with ultra-low deployment | |
| JP2013531781A (en) | Method and system for detecting zero speed state of object | |
| CN106851578A (en) | Personnel location system and method in complicated unknown indoor environment | |
| Wu et al. | Indoor positioning system based on inertial MEMS sensors: Design and realization | |
| CN104266648A (en) | Indoor location system based on Android platform MARG sensor | |
| CN110672095A (en) | Pedestrian indoor autonomous positioning algorithm based on micro inertial navigation | |
| CN106461401A (en) | Information processing device, information processing method, and computer program | |
| CN207036119U (en) | A kind of interior and the reverse device for addressing in signal blind zone based on gravity gradient auxiliary INS | |
| CN110260860B (en) | Indoor movement measurement positioning and attitude determination method and system based on foot inertial sensor | |
| KR101301462B1 (en) | Pedestiran dead-reckoning apparatus using low cost inertial measurement unit and method thereof | |
| CN110455284A (en) | A kind of pedestrian movement patterns' recognition methods and device based on MEMS-IMU | |
| JP6329915B2 (en) | Positioning system | |
| CN109682372B (en) | Improved PDR method combining building structure information and RFID calibration |
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 |