CN114690179A - Indoor tracking and positioning method and device based on short-distance radar and strapdown inertial navigation - Google Patents
Indoor tracking and positioning method and device based on short-distance radar and strapdown inertial navigation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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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 embodiment of the disclosure relates to an indoor tracking and positioning method and device based on a short-range radar and strapdown inertial navigation. The method comprises the following steps: the method comprises the following steps that a short-distance radar acquires indoor space position information and constructs an indoor structure virtual model, wherein the space position information comprises angle information and respective height information between an indoor wall body, a ground and a roof; acquiring real-time information of a moving target, wherein the real-time information at least comprises attitude information and position information; comparing the azimuth information corresponding to the real-time information with the indoor structure virtual model; and carrying out data processing based on the comparison result, and tracking and positioning the moving target, wherein the data processing is carried out based on a short-distance radar and a strapdown inertial navigation system. The embodiment of the disclosure can rapidly acquire an indoor structure so as to more accurately position the moving target, so that the position of the moving target can be rapidly found when needed, and the safety of the moving target is ensured.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of tracking and positioning, in particular to an indoor tracking and positioning method and device based on a short-range radar and strapdown inertial navigation.
Background
Firefighters often happen indoors when performing a fire fighting task, and often face a huge life threat due to complex site conditions and high dangerousness. When the firefighters are injured or evacuated, the current fire scene situation cannot be quickly established by using a satellite or a base station, and the accurate positions of the injured personnel can be obtained, so that great challenges are brought to rescue work. How to quickly and accurately sense the fire scene situation of a fireman and track and position the fireman aiming at the own party is a very important research topic and has very important significance for guaranteeing life safety.
In the related technology, a tracking and positioning system for an indoor moving target has large data error and poor reliability, and lacks of on-site real-time situation perception.
Accordingly, there is a need to ameliorate one or more of the problems with the above-mentioned related art solutions.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
An object of the embodiments of the present disclosure is to provide an indoor tracking and positioning method and apparatus based on short-range radar and strapdown inertial navigation, so as to overcome at least some of the problems caused by the limitations and disadvantages of the related art.
According to a first aspect of the embodiments of the present disclosure, there is provided an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation, including:
the method comprises the following steps that a short-distance radar acquires indoor space position information and constructs an indoor structure virtual model, wherein the space position information comprises angle information and respective height information between an indoor wall body, the ground and a roof;
the method comprises the steps that real-time information of a moving target is obtained through a short-distance radar and strapdown inertial navigation, wherein the real-time information at least comprises attitude information and position information;
comparing the azimuth information corresponding to the real-time information with the indoor structure virtual model;
performing data processing based on the comparison result, and tracking and positioning the moving target;
the data processing is carried out based on a short-distance radar and a strapdown inertial navigation system, real-time information of the moving target is calculated through an inertial measurement signal output by the strapdown inertial navigation system, and error calculation and correction are carried out on the real-time information.
In an exemplary embodiment of the present disclosure, the acquiring spatial location information indoors and constructing a virtual model of an indoor structure includes:
extracting geometric information and topological information of an indoor entity to obtain indoor spatial position information;
and correcting the spatial position information to construct an indoor structure virtual model.
In an exemplary embodiment of the present disclosure, the acquiring real-time information of a moving object, where the real-time information at least includes pose information and position information includes:
acquiring a plurality of real-time data by using a plurality of sensors;
and determining real-time information of the moving target according to the plurality of real-time data and fusion.
In an exemplary embodiment of the disclosure, the comparing the orientation information corresponding to the real-time information with the virtual model of the indoor structure includes:
if the azimuth information does not correspond to the position information of the indoor structure virtual model, judging that the azimuth information is wrong and the comparison result is not credible;
and if the azimuth information corresponds to the position information of the indoor structure virtual model, judging that the azimuth information is correct and the comparison result is credible.
In an exemplary embodiment of the present disclosure, the tracking and locating the moving target based on the comparison result includes:
and carrying out data processing according to the credible comparison result, and tracking and positioning the moving target.
According to a second aspect of the embodiments of the present disclosure, there is provided an indoor tracking and positioning device based on short-range radar and strapdown inertial navigation, including:
the system comprises a first indoor model construction unit, a second indoor model construction unit and a third indoor model construction unit, wherein the first indoor model construction unit is used for acquiring indoor space position information and constructing an indoor structure virtual model, and the space position information comprises angle information and respective height information between every two indoor wall bodies, a ground and a roof;
the real-time information acquisition unit is used for acquiring real-time information of a moving target, wherein the real-time information at least comprises attitude information and position information;
the information comparison unit is used for comparing the azimuth information corresponding to the real-time information with the indoor structure virtual model;
the data processing unit is used for carrying out data processing based on the comparison result and tracking and positioning the moving target;
the data processing is carried out by adopting a short-range radar and a strapdown inertial navigation system, the real-time information of the moving target is calculated through an inertial measurement signal output by the strapdown inertial navigation system, the relative movement of the moving target can be calculated by using the short-range radar, and the error calculation and correction are carried out on the real-time information.
In an exemplary embodiment of the present disclosure, the first indoor model constructing unit includes:
the indoor information acquisition unit is used for extracting the geometric information and the topological information of the indoor entity to acquire indoor spatial position information;
and the second indoor model construction unit is used for correcting the spatial position information to construct an indoor structure virtual model.
In an exemplary embodiment of the present disclosure, the real-time information acquiring unit includes:
a real-time data acquisition unit for acquiring a plurality of real-time data using a plurality of sensors;
and the real-time information determining unit is used for determining the real-time information of the moving target according to the plurality of real-time data and fusion.
According to a third aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, where the program is executed by a processor to implement the steps of the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in any one of the above embodiments.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to execute the executable instructions to perform the steps of the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in any of the above embodiments.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
in the embodiment of the disclosure, by the method and the device, indoor building outline information can be obtained by constructing an indoor structure virtual model according to indoor spatial position information, then real-time information of a moving target is obtained and compared with the indoor structure virtual model, whether the azimuth information is in the virtual model or not is judged, and if the azimuth information is in the virtual model, data processing is performed by using a strapdown inertial navigation system method so as to track and position the moving target. The process can quickly acquire an indoor structure, and can calculate errors and correct the errors so as to more accurately position the moving target, so that the position of the moving target can be quickly found when needed, and the safety of the moving target is ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
Fig. 1 shows a flowchart of an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in an exemplary embodiment of the disclosure;
fig. 2 illustrates a flowchart for acquiring spatial location information in a room and constructing a virtual model of an indoor structure in an exemplary embodiment of the present disclosure;
FIG. 3 illustrates a flow chart for obtaining real-time information of a moving object in an exemplary embodiment of the disclosure, wherein the real-time information includes at least pose information and position information;
FIG. 4 is a flow chart illustrating an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in yet another exemplary embodiment of the present disclosure;
FIG. 5 is a flow chart illustrating tracking and locating the moving object based on the comparison result in the exemplary embodiment of the disclosure;
fig. 6 is a schematic structural diagram of an indoor tracking and positioning device based on short-range radar and strapdown inertial navigation in an exemplary embodiment of the disclosure;
fig. 7 illustrates a schematic structural view of a first indoor model building unit in an exemplary embodiment of the present disclosure;
fig. 8 shows a schematic structural diagram of a real-time information acquisition unit in an exemplary embodiment of the present disclosure;
fig. 9 shows a schematic structural diagram of an electronic device in an exemplary embodiment of the present disclosure;
fig. 10 is a schematic structural diagram illustrating a program product for an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in an exemplary embodiment of the disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
First, an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation is provided in this example embodiment, and referring to fig. 1, the method may include steps S101 to S104:
step S101, indoor space position information is obtained and an indoor structure virtual model is constructed, wherein the space position information comprises angle information and respective height information between an indoor wall body, a ground and a roof, and the space construction module is based on a short-distance radar, can select a millimeter-wave radar, can also select a laser radar, or can select other radar equipment for short-distance sensing;
step S102, acquiring real-time information of a moving target, wherein the real-time information at least comprises attitude information and position information;
step S103, comparing the azimuth information corresponding to the real-time information with the indoor structure virtual model;
step S104, performing data processing based on the comparison result, and tracking and positioning the moving target;
the data processing is carried out based on the short-range radar and the strapdown inertial navigation system, the real-time information of the moving target is calculated through an inertial measurement signal output by the strapdown inertial navigation system, or the real-time information of the relative movement is measured based on the short-range radar, and error calculation and correction are carried out on the real-time information.
According to the method, indoor building outline information can be obtained by constructing an indoor structure virtual model according to indoor space position information, then real-time information of a moving target is obtained and compared with the indoor structure virtual model, whether the azimuth information is in the virtual model or not is judged, and if the azimuth information is in the virtual model, data processing is carried out by using a short-distance radar and strapdown inertial navigation system method, so that the moving target is tracked and positioned. The process can quickly acquire an indoor structure so as to more accurately position the moving target, so that the position of the moving target can be quickly found when needed, and the safety of the moving target is ensured. Especially, the device can be used for indoor tracking and positioning when a fireman carries out a fire extinguishing task, can quickly and accurately acquire the position of the fireman, and is convenient for monitoring and protecting the fireman.
Hereinafter, the respective steps of the above-described method in the present exemplary embodiment will be described in more detail with reference to fig. 1 to 5.
In step S101, indoor spatial position information is acquired and an indoor structure virtual model is constructed, where the spatial position information includes angle information between each two of an indoor wall, a ground and a roof and respective height information. Therefore, the indoor structure can be displayed by using the virtual model, so that the control end can clearly see the indoor structure and provide contour information for tracking and positioning.
In step S102, real-time information of the moving object is acquired, wherein the real-time information at least includes attitude information and position information. The posture information of the moving target can know the current state of the moving target, such as standing, sitting or lying down, can judge the safety condition of the moving target, and provides basic data information for finding the moving target by combining with the position information.
In step S103, the orientation information corresponding to the real-time information is compared with the virtual model of the indoor structure. The obtained real-time information has the possibility of errors, and whether the real-time information is in the direction corresponding to the indoor virtual model needs to be judged, so that the accuracy of the data is improved.
In step S104, performing data processing based on the comparison result to track and position the moving target, where the data processing is performed based on the short-range radar and the strapdown inertial navigation system, and calculating real-time information of the moving target through an inertial measurement signal output by the strapdown inertial navigation system, or measuring relative movement real-time information based on the short-range radar, and performing error calculation and correction on the real-time information. By adopting the data processing method of the strapdown inertial navigation system, the real-time information of the moving target can be calculated in real time, the error can be calculated and corrected in real time, the method does not depend on external information, the possibility of interference is low, and the data error can be reduced. In addition, error estimation and compensation can be carried out on the position of the strapdown inertial navigation system, so that a more accurate moving target position can be obtained. The measured real-time information of the moving target can be fused with the GPS information, high-precision positioning is realized, and the safety requirement is better met.
Referring to fig. 2, in an embodiment, the acquiring spatial location information of an indoor space and constructing a virtual model of an indoor structure includes steps S201 to S202:
step S201, extracting geometric information and topological information of an indoor entity to obtain indoor spatial location information, for example, extracting the above information from a CAD model, and in addition, extracting effective information by combining a correction method, removing erroneous information, and obtaining data with higher reliability;
and S202, correcting the spatial position information to construct an indoor structure virtual model.
In the embodiment, more accurate indoor space position information can be obtained, so that an indoor structure virtual model with higher precision and accuracy can be obtained.
Referring to fig. 3, in an embodiment, the step S102 includes steps S301 to S302:
step S301, acquiring a plurality of real-time data by utilizing a plurality of sensors;
and S302, fusing and determining the real-time information of the moving target according to the plurality of real-time data.
In this embodiment, a variety of sensors are used, for example, a nine-axis sensor is used to obtain relevant physiological data of a moving target, such as a real-time movement posture change, a body temperature, a heart rate, and the like, a temperature sensor is used to obtain a real-time temperature of the moving target, a smoke sensor is used to obtain smoke information, and a GPS is used to obtain a real-time position. And determining the real-time state and position of the moving target according to the information.
Referring to fig. 4, in an embodiment, the comparing the orientation information corresponding to the real-time information with the virtual model of the indoor structure includes steps S401 to S402:
step S401, if the azimuth information does not correspond to the position information of the indoor structure virtual model, judging that the azimuth information is wrong and the comparison result is not credible;
step S402, if the orientation information corresponds to the position information of the indoor structure virtual model, the orientation information is judged to be correct, and the comparison result is credible.
In the embodiment, the credible comparison result is screened out by comparing the position information with the position information of the virtual model, so that the accuracy of the information is improved.
Referring to fig. 5, in an embodiment, the tracking and locating the moving object based on the comparison result includes step S501:
and S501, performing data processing according to the credible comparison result, and tracking and positioning the moving target.
In the embodiment, the credible comparison result is utilized to perform data processing so as to achieve higher precision and accurate tracking and positioning.
It should be noted that although the various steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that these steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc. Additionally, it will also be readily appreciated that the steps may be performed synchronously or asynchronously, e.g., among multiple modules/processes/threads.
Further, in this example embodiment, an indoor tracking and positioning device based on a short-range radar and a strapdown inertial navigation is also provided. Referring to fig. 6, the apparatus may include: a first indoor model construction unit 101, a real-time information acquisition unit 102, an information comparison unit 103, and a data processing unit 104.
Wherein: the first indoor model construction unit 101 is configured to obtain indoor spatial position information and construct an indoor structure virtual model, where the spatial position information includes angle information between an indoor wall, a ground, and a roof, and respective height information; the real-time information acquiring unit 102 is configured to acquire real-time information of a moving target, where the real-time information at least includes posture information and position information; the information comparison unit 103 is configured to compare the orientation information corresponding to the real-time information with the virtual model of the indoor structure; the data processing unit 104 is configured to perform data processing based on the comparison result, and track and locate the moving target, where the data processing is performed by using a short-range radar and a strapdown inertial navigation system, calculate real-time information of the moving target according to an inertial measurement signal output by the short-range radar and the strapdown inertial navigation system, and perform error calculation and correction on the real-time information.
Referring to fig. 7, in one embodiment, the first indoor model constructing unit 101 includes: an indoor information acquisition unit 201 and a second indoor model construction unit 202.
Wherein: the indoor information obtaining unit 201 is configured to extract geometric information and topological information of an indoor entity to obtain indoor spatial location information; the second indoor model construction unit 202 is configured to correct the spatial location information to construct a virtual model of an indoor structure.
Referring to fig. 8, in an embodiment, the real-time information obtaining unit 102 includes: a real-time data acquisition unit 301 and a real-time information determination unit 302.
The real-time data acquisition unit 301 is configured to acquire a plurality of real-time data by using a plurality of sensors; the real-time information determining unit 302 is configured to determine real-time information of the moving object according to the plurality of real-time data and fusion.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units. The components shown as modules or units may or may not be physical units, i.e. may be located in one place or may also be distributed over a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the wood-disclosed scheme. One of ordinary skill in the art can understand and implement it without inventive effort.
In an exemplary embodiment of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored, which when executed by a processor, for example, can implement the steps of the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in any one of the above embodiments. In some possible embodiments, the various aspects of the present invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the present invention as described in the section of the method for indoor tracking location based on short range radar and strapdown inertial navigation mentioned above in this description, when said program product is run on the terminal device.
Referring to fig. 9, a program product 300 for implementing the above method according to an embodiment of the present invention is described, which may employ a semiconductor erasable memory and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash-ROM Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Python, Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In an exemplary embodiment of the present disclosure, there is also provided an electronic device, which may include a processor, and a memory for storing executable instructions of the processor. Wherein the processor is configured to execute the executable instructions to perform the steps of the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in any of the above embodiments.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 10. The electronic device 600 shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 10, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 that connects the various system components (including the storage unit 620 and the processing unit 610), a display unit 640, and the like.
Wherein the storage unit stores program code, which can be executed by the processing unit 610, to cause the processing unit 610 to execute the steps according to various exemplary embodiments of the present invention described in the section of the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation mentioned above in this specification. For example, the processing unit 610 may perform the steps as shown in fig. 1.
The storage unit 620 may include readable media in the form of volatile storage units, such as a random access memory unit (RAM)6201 and/or a cache storage unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include programs/utilities 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. An indoor tracking and positioning method based on a short-distance radar and strapdown inertial navigation is characterized by comprising the following steps:
acquiring indoor space position information and constructing an indoor structure virtual model, wherein the space position information comprises angle information and respective height information between every two indoor walls, the ground and a roof;
acquiring real-time information of a moving target, wherein the real-time information at least comprises attitude information and position information;
comparing the azimuth information corresponding to the real-time information with the indoor structure virtual model;
performing data processing based on the comparison result, and tracking and positioning the moving target;
the data processing is carried out based on a short-distance radar and a strapdown inertial navigation system, real-time information of the moving target is calculated through an inertial measurement signal output by the strapdown inertial navigation system, and error calculation and correction are carried out on the real-time information.
2. The indoor tracking and positioning method according to claim 1, wherein the obtaining of indoor spatial position information and constructing of an indoor structure virtual model comprises:
extracting geometric information and topological information of an indoor entity to obtain indoor spatial position information;
and correcting the spatial position information to construct an indoor structure virtual model.
3. The indoor tracking and positioning method according to claim 1, wherein the obtaining real-time information of the moving object, wherein the real-time information at least includes attitude information and position information, comprises:
acquiring a plurality of real-time data by utilizing a plurality of sensors;
and determining real-time information of the moving target according to the plurality of real-time data and fusion.
4. The indoor tracking and positioning method according to claim 1, wherein the comparing the orientation information corresponding to the real-time information with the virtual model of the indoor structure comprises:
if the azimuth information does not correspond to the position information of the indoor structure virtual model, judging that the azimuth information is wrong and the comparison result is not credible;
and if the azimuth information corresponds to the position information of the indoor structure virtual model, judging that the azimuth information is correct and the comparison result is credible.
5. The indoor tracking and positioning method according to claim 4, wherein the tracking and positioning the moving target based on the comparison result comprises:
and carrying out data processing according to the credible comparison result, and tracking and positioning the moving target.
6. Indoor tracking positioner based on short distance radar and strapdown are used to lead, its characterized in that includes:
the system comprises a first indoor model construction unit, a second indoor model construction unit and a third indoor model construction unit, wherein the first indoor model construction unit is used for acquiring indoor space position information and constructing an indoor structure virtual model, and the space position information comprises angle information and respective height information between every two indoor walls, the ground and a roof;
the real-time information acquisition unit is used for acquiring real-time information of a moving target, wherein the real-time information at least comprises attitude information and position information;
the information comparison unit is used for comparing the azimuth information corresponding to the real-time information with the indoor structure virtual model;
the data processing unit is used for carrying out data processing based on the comparison result and tracking and positioning the moving target;
the data processing is carried out by adopting a strapdown inertial navigation system, the real-time information of the moving target is calculated through an inertial measurement signal output by the strapdown inertial navigation system, and the error calculation and correction are carried out on the real-time information.
7. The indoor tracking and positioning apparatus of claim 6, wherein the first indoor model constructing unit comprises:
the indoor information acquisition unit is used for extracting the geometric information and the topological information of the indoor entity to acquire indoor spatial position information;
and the second indoor model construction unit is used for correcting the spatial position information to construct an indoor structure virtual model.
8. The indoor tracking and positioning device according to claim 6, wherein the real-time information obtaining unit comprises:
a real-time data acquisition unit for acquiring a plurality of real-time data using a plurality of sensors;
and the real-time information determining unit is used for determining the real-time information of the moving target according to the plurality of real-time data and fusion.
9. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the steps of the method for indoor tracking and positioning based on short-range radar and strapdown inertial navigation according to any one of claims 1 to 5.
10. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to execute the executable instructions to perform the steps of any one of claims 1 to 5 of the short range radar and strapdown inertial navigation based indoor tracking and positioning method.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116700319A (en) * | 2023-08-04 | 2023-09-05 | 西安交通大学 | Autonomous take-off and landing system and method for aerial robot based on micro radar array |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116700319A (en) * | 2023-08-04 | 2023-09-05 | 西安交通大学 | Autonomous take-off and landing system and method for aerial robot based on micro radar array |
| CN116700319B (en) * | 2023-08-04 | 2023-10-20 | 西安交通大学 | Autonomous take-off and landing system and method for aerial robot based on micro radar array |
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