CN116489596A - Indoor personnel positioning method and device, electronic equipment and storage medium - Google Patents
Indoor personnel positioning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for positioning indoor personnel, electronic equipment and a storage medium. The method comprises the following steps: determining an indoor position scene of the indoor personnel according to the continuous fingerprint positioning information of the indoor personnel; detecting the motion quality of indoor personnel according to terminal equipment worn by the indoor personnel to obtain a motion quality index; calculating an innovation value and an innovation covariance noise matrix of the fusion positioning system according to the indoor position scene and the motion quality index; estimating measurement noise of the fusion positioning system according to the innovation covariance noise matrix, and adjusting noise of the fusion positioning system according to the motion quality index; performing coarse error autonomous detection on indoor personnel according to the innovation value and the innovation covariance noise matrix of the fusion positioning system; and determining a target indoor positioning result of the indoor personnel according to the result of the coarse and fine autonomous detection. The technical scheme of the embodiment of the invention can improve the accuracy and reliability of indoor personnel positioning.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent positioning, in particular to a positioning method and device for indoor personnel, electronic equipment and a storage medium.
Background
In some high-risk industries in recent years, the problem of safety control of indoor operators is closely related to the development of indoor positioning technology.
With the continuous development of the positioning technology, the prior art is generally based on Wi-Fi (Wireless Fidelity ) and pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR) fusion technology or Bluetooth and PDR fusion technology, so that the wide-area positioning of indoor personnel is realized, and the positioning accuracy can be generally 2-5 meters.
The inventors have found that the following drawbacks exist in the prior art in the process of implementing the present invention: the traditional indoor personnel positioning method omits the problem that factors such as indoor environment complexity, terminal equipment variability and indoor personnel action diversity influence the positioning precision, and reduces the accuracy and reliability of indoor personnel positioning.
Disclosure of Invention
The embodiment of the invention provides a method, a device, electronic equipment and a storage medium for positioning indoor personnel, which can improve the accuracy and reliability of indoor personnel positioning.
In a first aspect, an embodiment of the present invention provides a method for positioning an indoor person, including:
determining an indoor position scene of an indoor person according to continuous fingerprint positioning information of the indoor person;
Detecting the motion quality of the indoor personnel according to the terminal equipment worn by the indoor personnel to obtain a motion quality index;
calculating an innovation value and an innovation covariance noise matrix of a fusion positioning system according to the indoor position scene and the motion quality index;
estimating measurement noise of the fusion positioning system according to the innovation covariance noise matrix, and adjusting noise of the fusion positioning system according to the motion quality index;
performing coarse error autonomous detection on the indoor personnel according to the innovation value of the fusion positioning system and the innovation covariance noise matrix;
and determining a target indoor positioning result of the indoor personnel according to the result of the autonomous coarse detection.
In a second aspect, an embodiment of the present invention further provides a positioning device for indoor personnel, including:
the indoor position scene determining module is used for determining an indoor position scene of the indoor personnel according to the continuous fingerprint positioning information of the indoor personnel;
the motion quality index acquisition module is used for detecting the motion quality of the indoor personnel according to the terminal equipment worn by the indoor personnel to obtain a motion quality index;
the innovation value noise matrix calculation module is used for calculating an innovation value and an innovation covariance noise matrix of the fusion positioning system according to the indoor position scene and the motion quality index;
The noise estimation and adjustment module is used for estimating the measurement noise of the fusion positioning system according to the innovation covariance noise matrix and adjusting the process noise of the fusion positioning system according to the motion quality index;
the personnel coarse difference autonomous detection module is used for performing coarse difference autonomous detection on the indoor personnel according to the innovation value of the fusion positioning system and the innovation covariance noise matrix;
and the target indoor positioning result determining module is used for determining the target indoor positioning result of the indoor personnel according to the result of the coarse difference autonomous detection.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of locating indoor personnel according to any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause a processor to execute the method for positioning an indoor person according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the indoor position scene of the indoor personnel is determined according to the continuous fingerprint positioning information of the indoor personnel, so that the indoor personnel is subjected to motion quality detection according to the terminal equipment worn by the indoor personnel to obtain the motion quality index, the information value and the information covariance noise matrix of the fusion positioning system are further calculated according to the indoor position scene and the motion quality index, the measurement noise of the fusion positioning system is estimated according to the information covariance noise matrix, the process noise of the fusion positioning system is regulated according to the motion quality index, the indoor personnel is subjected to coarse difference autonomous detection according to the information value and the information covariance noise matrix of the fusion positioning system, the target indoor positioning result of the indoor personnel is determined according to the result of the coarse difference autonomous detection, the problem that the influence on the positioning accuracy caused by factors such as the indoor environment complexity, the terminal equipment difference and the indoor personnel action diversity in the existing indoor personnel positioning method is solved, and the accuracy and reliability of indoor personnel positioning can be improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for locating indoor personnel according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for positioning indoor personnel according to a second embodiment of the present invention;
fig. 3 is a flow chart of a method for positioning indoor personnel according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a positioning device for indoor personnel according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a positioning method for indoor personnel, which is provided in an embodiment of the present invention, where the method may be applied to a case of accurately positioning indoor personnel, and the method may be performed by a positioning device for indoor personnel, where the positioning device for indoor personnel may be implemented in a software and/or hardware form and may generally be integrated in an electronic device, where the electronic device may be a terminal device with an indoor personnel positioning function, or may be a server device, and the embodiment of the present invention does not limit a specific device type of the electronic device. Accordingly, as shown in fig. 1, the method includes:
S110, determining the indoor position scene of the indoor personnel according to the continuous fingerprint positioning information of the indoor personnel.
The fingerprint positioning information can be understood as positioning information formed by various basic positioning methods based on the signal characteristics of each sampling point in the indoor scene. The indoor location scenario may be an airport, hotel, museum, convention center, or indoor workstation, etc.
In the embodiment of the invention, the indoor personnel can be accurately positioned through the fusion positioning system. The fusion positioning system can be a system for fusing various positioning signal results to accurately position. Specifically, the fusion positioning system can firstly judge whether the indoor personnel are in the indoor position scene according to the continuously detected fingerprint positioning information of the indoor personnel as input.
S120, detecting the motion quality of the indoor personnel according to the terminal equipment worn by the indoor personnel, and obtaining a motion quality index.
Wherein, the motion quality can be used for describing the dynamic property, continuity and other information when the object moves.
Correspondingly, after the indoor position scene of the indoor personnel is determined, the fusion positioning system can detect the motion quality according to the information sent by the motion sensor in the terminal equipment worn by the indoor personnel, so that the motion quality index is obtained.
Alternatively, the terminal device worn by the indoor personnel may be a wearable terminal such as a chest card or a bracelet.
S130, calculating an innovation value and an innovation covariance noise matrix of the fusion positioning system according to the indoor position scene and the motion quality index.
Wherein the innovation values can be used to describe the error between the actual measured value and the best predicted value predicted from the existing information.
Correspondingly, the fusion positioning system can calculate an innovation value of the fusion positioning system according to the indoor position scene and the motion quality index, and calculate the innovation covariance noise so as to establish an innovation covariance noise matrix.
S140, estimating measurement noise of the fusion positioning system according to the innovation covariance noise matrix, and adjusting process noise of the fusion positioning system according to the motion quality index.
In this embodiment, the fusion positioning system may estimate the measurement noise of the fusion positioning system according to the innovation covariance noise matrix, and adjust the process noise of the fusion positioning system in real time according to the motion quality index and the measurement noise of the fusion positioning system, so as to optimize the relevant parameters in the fusion positioning system and improve the positioning accuracy of the fusion positioning system.
S150, carrying out coarse and fine automatic detection on indoor personnel according to the innovation value and the innovation covariance noise matrix of the fusion positioning system.
Correspondingly, the fusion positioning system can perform gross error autonomous detection on the innovation measured value of the indoor personnel according to the relative magnitude relation between the innovation value of the fusion positioning system and the innovation covariance noise matrix.
S160, determining a target indoor positioning result of the indoor personnel according to the result of the coarse difference autonomous detection.
The target indoor positioning result is a positioning result in the current indoor scene.
Correspondingly, the fusion positioning system can calculate and update the target indoor positioning result of the indoor personnel according to the result of the coarse difference autonomous detection of the innovation measured value.
According to the embodiment of the invention, the indoor position scene of the indoor personnel is determined according to the continuous fingerprint positioning information of the indoor personnel, so that the indoor personnel is subjected to motion quality detection according to the terminal equipment worn by the indoor personnel to obtain the motion quality index, the information value and the information covariance noise matrix of the fusion positioning system are further calculated according to the indoor position scene and the motion quality index, the measurement noise of the fusion positioning system is estimated according to the information covariance noise matrix, the process noise of the fusion positioning system is regulated according to the motion quality index, the indoor personnel is subjected to coarse difference autonomous detection according to the information value and the information covariance noise matrix of the fusion positioning system, the target indoor positioning result of the indoor personnel is determined according to the result of the coarse difference autonomous detection, the problem that the influence on the positioning accuracy caused by factors such as the indoor environment complexity, the terminal equipment difference and the indoor personnel action diversity in the existing indoor personnel positioning method is solved, and the accuracy and reliability of indoor personnel positioning can be improved.
Example two
Fig. 2 is a flowchart of a positioning method for indoor personnel provided in a second embodiment of the present invention, where the present embodiment is further optimized and expanded based on the foregoing embodiment, and various specific alternative implementations for calculating indoor positioning results of indoor personnel are provided. As shown in fig. 2, the method may include:
s210, acquiring the positioning position of the indoor personnel in the target indoor scene according to the basic fingerprint positioning method.
The basic fingerprint positioning method may be a method for positioning according to existing fingerprint feature signals in an existing indoor scene, for example, may be a fingerprint positioning method based on bluetooth, wiFi or other electromagnetic signals. The target indoor scene can be understood as an indoor location scene where indoor personnel positioning is currently required, for example, a substation indoor scene and the like.
S220, judging whether the positioning positions with the continuously set number belong to the uniform positioning positions. If yes, executing S230; if not, S240 is performed.
Specifically, the fusion positioning system can acquire the positioning position of the indoor personnel in the target indoor scene according to the basic fingerprint positioning method, and judge whether the acquired continuous fingerprint positioning positions belong to the same positioning position or not so as to determine the next operation according to the judgment result.
S230, determining the indoor position scene of the indoor personnel as a target indoor scene.
Correspondingly, if a plurality of continuous fingerprint positioning positions acquired by the fusion positioning system belong to the same positioning position, the indoor position scene where the current indoor personnel are can be determined as the target indoor scene.
S240, the indoor position scene of the indoor personnel cannot be determined.
It can be understood that if several continuous fingerprint positioning positions acquired by the fusion positioning system do not belong to the same positioning position, it indicates that the person to be positioned does not enter the indoor scene or the action state in the indoor scene is unstable, and it may be that the person to be positioned does not enter the working state.
S250, calculating the dynamic index of the terminal equipment according to the first target sensor of the terminal equipment worn by the indoor personnel.
The first target sensor may be a sensor capable of detecting a movement direction of an object, and may be, for example, a gyroscope, a geomagnetic sensor, an electronic compass, or the like. A dynamic index may be understood as an index describing the direction of movement of an object.
Correspondingly, the fusion positioning system can calculate the dynamic index of the terminal equipment, namely the movement direction of the indoor personnel in the target indoor scene according to the first target sensor of the terminal equipment worn by the indoor personnel.
Optionally, calculating the dynamic index of the terminal device according to the first target sensor of the terminal device worn by the indoor personnel may include:
calculating the dynamic index of the terminal equipment based on the following formula:
wherein A is indicator Represents dynamic index omega e Representing the eastern angular velocity measurement, ω, of the first target sensor n Representing a north angular velocity measurement of the first target sensor.
And S260, calculating the action continuity index of the indoor personnel according to a second target sensor of the terminal equipment worn by the indoor personnel.
The second target sensor may be a sensor capable of detecting a motion characteristic of the object, and may be an acceleration sensor, a speed sensor, or the like, for example. The motion continuity indicator may be understood as an indicator describing the motion characteristics of the object, and may include, by way of example, but not limitation, velocity and acceleration.
Correspondingly, the fusion positioning system can calculate the dynamic index of the terminal equipment, namely the movement speed of the indoor personnel in the target indoor scene according to the second target sensor of the terminal equipment worn by the indoor personnel.
Optionally, calculating the action continuity indicator of the indoor personnel according to the second target sensor of the terminal device worn by the indoor personnel may include:
Calculating an action continuity index of the indoor personnel based on the following formula:
B indicator ＝DTW(M i-1 ,M i )
wherein B is indicator An action continuity index representing indoor personnel, a time warping algorithm method represented by DTW, M i An ith step acceleration sequence representing an indoor person, M i-1 An i-1 th step acceleration sequence representing an indoor person, a t Indicating the acceleration measurement amplitude at time t, acc x 、acc y And acc (sic) z Representing accelerometer triaxial measurements, respectively.
S270, calculating a motion quality index according to the dynamic index and the motion continuity index.
In the embodiment of the invention, after the dynamic index of the terminal equipment and the action continuity index of the indoor personnel are obtained, the fusion positioning system can calculate the motion quality index, namely the motion trail information, the positioning position information and the like of the indoor personnel according to the obtained dynamic index and action continuity index.
Optionally, calculating the motion quality index according to the dynamic index and the motion continuity index may include:
calculating a motion quality index based on the following formula:
C indicator ＝A indicator ·B indicator
wherein C is indicator Representing the motion quality index.
Optionally, the fusion positioning system can realize multi-sensor tight coupling positioning based on a unscented kalman filter multi-source fusion algorithm, wherein the calculation method of the fusion algorithm state vector x related in the algorithm can refer to the following formula:
x＝[e,n,v,θ,s,b] T
Wherein e and n respectively represent the eastern direction and the northern direction coordinates under the local coordinate system, v represents the pedestrian traveling speed, s represents the pedestrian step size model scale factor, and θ and b respectively represent the deviation of the pedestrian traveling course angle and the gyro course angle speed.
Accordingly, the time update equation for the fusion algorithm state vector x is shown in the following equation:
wherein, the subscript k represents epoch time, the subscript-and+ respectively represent a state vector predicted value and an updated value, deltav represents a pedestrian speed increment estimated by the PDR step size model, deltaθ represents a heading angle increment estimated by the PDR relative heading angle, deltat represents a time interval, w i＝1,2,…,6 Representing process noise.
The measurement noise update equation is shown in the following formula:
wherein z is k Representing the fused positioning system measurement vector, h () represents the nonlinear function between the state quantity and the measurement of the quantity, and l represents the measurement noise.
S280, calculating an innovation value and an innovation covariance noise matrix of the fusion positioning system according to the indoor position scene and the motion quality index.
Optionally, calculating the innovation value and the innovation covariance noise matrix of the fusion positioning system according to the indoor position scene and the motion quality index may include:
under the condition that the indoor position scene is determined to be effective and the motion quality index is smaller than a preset threshold value, calculating a fusion positioning system innovation value based on the following formula:
Wherein alpha is k Represents the innovation value of the fusion positioning system, H represents the measurement matrix of the fusion positioning system,representing a fused positioning system state quantity time prediction vector, wherein k represents epoch time;
the innovation covariance noise is calculated based on the following formula:
wherein,,represents the innovation covariance noise and m represents the sliding window length.
S290, estimating the measurement noise of the fusion positioning system according to the innovation covariance noise matrix, and adjusting the process noise of the fusion positioning system according to the motion quality index.
Optionally, estimating the measurement noise of the fusion positioning system according to the innovation covariance noise matrix, and adjusting the process noise of the fusion positioning system according to the motion quality index, which may include:
estimating the measurement noise of the fusion positioning system based on the following formula:
wherein R is k A covariance noise matrix representing the metrology vector,a time update covariance noise matrix representing a fused positioning system state;
adjusting the process noise of the fusion positioning system based on the following formula:
Q k ＝C indicator ·Q 0
wherein Q is k Representing process noise matrix Q of fusion positioning system after epoch k time self-adaptive adjustment 0 Representing the initial process noise matrix of the fusion positioning system.
And S2100, performing coarse and fine autonomous detection on indoor personnel according to the innovation value and the innovation covariance noise matrix of the fusion positioning system.
S2110, determining a target indoor positioning result of indoor personnel according to the result of the coarse difference autonomous detection.
Optionally, performing coarse and fine autonomous detection on indoor personnel according to the innovation value and the innovation covariance noise matrix of the fusion positioning system may include:
and carrying out rough difference autonomous detection on indoor personnel based on the following formula:
wherein alpha is ′ k The value of the measure of the target innovation is represented,and representing the innovation covariance noise value corresponding to the target innovation measured value. The target measure of innovation, i.e. one of the measures of innovation.
Optionally, the fusion positioning system can perform coarse difference autonomous detection according to the obtained innovation value and innovation covariance noise matrix according to a three-time standard deviation principle, namely when the innovation measured value is greater than three-time innovation noise standard deviation, the coarse difference condition of the measured value is indicated, and at the moment, the coarse difference can be autonomously detected in the fusion positioning system to realize more robust output state vector x, so that positioning results e and n, namely eastern direction coordinates and northern direction coordinates under a local coordinate system, are obtained.
Fig. 3 is a flow chart of a method for positioning indoor personnel according to a second embodiment of the present invention. In order to more clearly describe the technical solution provided by the embodiment of the present invention, in a specific example, a substation environment is taken as an example to specifically describe, and as shown in fig. 3, a positioning method for indoor personnel in the substation environment may be divided into six steps: the method comprises the steps of substation environment fingerprint positioning result and inertial sensor data, indoor scene recognition of indoor personnel, indoor personnel motion quality detection, noise measurement by a self-adaptive estimation system and process noise of a self-adaptive adjustment system, coarse difference autonomous detection and heterogeneous multi-source self-adaptive fusion positioning.
According to the indoor scene information of the transformer substation, the position of indoor personnel in the scene of the transformer substation is obtained by adopting a fingerprint positioning method of the environment of the transformer substation, a continuous fingerprint positioning result is recorded by utilizing an innovation sliding window, and the data of the built-in inertial sensor of the wearable terminal in the indoor scene of the transformer substation is further obtained.
And step two, determining that the current indoor personnel is in the indoor scene according to the continuous fingerprint positioning results recorded in the step one if the continuous fingerprint positioning results belong to the same scene.
And thirdly, calculating a terminal dynamic index by utilizing the change of the horizontal angle according to the data of the built-in inertial sensor of the wearable terminal obtained in the first step, and judging the similarity of the acceleration amplitude waveforms between adjacent steps by adopting a dynamic time warping algorithm in combination with the data of the acceleration sensor of the walking steps of the indoor personnel of the transformer substation so as to calculate the action continuity index of the indoor personnel. And further calculating according to the dynamic index and the action continuity index to obtain a motion quality index.
And step four, when the terminal of the indoor personnel of the transformer substation is identified to be in a certain indoor scene and the motion quality index is smaller than a preset threshold value, calculating to obtain an innovation value of the fusion positioning system, further combining an innovation sliding window, calculating an innovation covariance noise matrix, measuring the covariance noise matrix based on the calculated amount of the innovation covariance noise matrix, and realizing the self-adaptive estimation of the system measurement noise. And further, calculating a process noise array of the fusion positioning system according to the motion quality index obtained in the step three, and realizing self-adaptive adjustment of the process noise of the system.
And fifthly, automatically detecting the gross error, combining the innovation value obtained in the fourth step with the innovation covariance noise array, and carrying out the gross error automatic detection according to the three-fold innovation noise standard deviation principle, wherein specifically, when the innovation measured value is greater than three-fold innovation noise standard deviation, the measured value gross error is represented, and the measurement updating of the fusion positioning system and the innovation sliding window cannot occur at the moment.
And step six, outputting a stable state vector by the multi-source adaptive fusion positioning system, and finally obtaining a fusion positioning result to realize heterogeneous multi-source adaptive fusion positioning.
It should be noted that any permutation and combination of the technical features in the above embodiments also belong to the protection scope of the present invention.
According to the technical scheme, indoor scene positioning is performed in real time through the terminal equipment worn by the indoor personnel, so that the current indoor scene is identified according to continuous fingerprint positioning information, the dynamic index of the terminal equipment and the action continuity index of the indoor personnel are calculated according to the built-in inertial sensor of the terminal equipment worn by the indoor personnel, the detection basis of the motion quality index is obtained, the measurement noise and the process noise of the fusion positioning system are estimated and adjusted in a self-adaptive mode based on the motion quality index, and the self-adaptive detection of the gross error is combined, so that heterogeneous multi-source self-adaptive fusion positioning of the indoor personnel is realized, and the positioning precision and accuracy of the indoor personnel are improved.
Example III
Fig. 4 is a schematic structural diagram of a positioning device for indoor personnel according to a third embodiment of the present invention, which is applicable to a scenario in which indoor personnel are accurately positioned, and the embodiment is not limited in particular. As shown in fig. 4, the indoor personnel positioning device includes: an indoor location scene determination module 310, a motion quality index acquisition module 320, an innovation value noise matrix calculation module 330, a noise estimation adjustment module 340, a gross staff autonomous detection module 350 and a target indoor positioning result determination module 360.
The indoor location scene determining module 310 is configured to determine an indoor location scene of an indoor person according to continuous fingerprint positioning information of the indoor person; the motion quality index obtaining module 320 is configured to detect motion quality of indoor personnel according to terminal equipment worn by the indoor personnel, so as to obtain a motion quality index; the innovation value noise matrix calculation module 330 is configured to calculate an innovation value and an innovation covariance noise matrix of the fusion positioning system according to the indoor location scene and the motion quality index; the noise estimation adjustment module 340 is configured to estimate measurement noise of the fused positioning system according to the innovation covariance noise matrix, and adjust process noise of the fused positioning system according to the motion quality index; the personnel coarse and poor autonomous detection module 350 is used for performing coarse and poor autonomous detection on indoor personnel according to the innovation value and the innovation covariance noise matrix of the fusion positioning system; the target indoor positioning result determining module 360 is configured to determine a target indoor positioning result of the indoor personnel according to the result of the coarse autonomous detection.
According to the embodiment of the invention, the indoor position scene of the indoor personnel is determined according to the continuous fingerprint positioning information of the indoor personnel, so that the indoor personnel is subjected to motion quality detection according to the terminal equipment worn by the indoor personnel to obtain the motion quality index, the information value and the information covariance noise matrix of the fusion positioning system are further calculated according to the indoor position scene and the motion quality index, the measurement noise of the fusion positioning system is estimated according to the information covariance noise matrix, the process noise of the fusion positioning system is regulated according to the motion quality index, the indoor personnel is subjected to coarse difference autonomous detection according to the information value and the information covariance noise matrix of the fusion positioning system, the target indoor positioning result of the indoor personnel is determined according to the result of the coarse difference autonomous detection, the problem that the influence on the positioning accuracy caused by factors such as the indoor environment complexity, the terminal equipment difference and the indoor personnel action diversity in the existing indoor personnel positioning method is solved, and the accuracy and reliability of indoor personnel positioning can be improved.
Optionally, the indoor location scene determination module 310 is specifically configured to: acquiring the positioning position of indoor personnel in a target indoor scene according to a basic fingerprint positioning method; and under the condition that the continuously set number of positioning positions are determined to belong to the uniform positioning positions, determining the indoor position scene of the indoor personnel as a target indoor scene.
Optionally, the motion quality index obtaining module 320 is specifically configured to: calculating the dynamic index of the terminal equipment according to a first target sensor of the terminal equipment worn by indoor personnel; calculating an action continuity index of the indoor personnel according to a second target sensor of the terminal equipment worn by the indoor personnel; and calculating a motion quality index according to the dynamic index and the motion continuity index.
Optionally, the motion quality index obtaining module 320 is specifically configured to: calculating the dynamic index of the terminal equipment based on the following formula:
wherein A is indicator Represents dynamic index omega e Representing the eastern angular velocity measurement, ω, of the first target sensor n A north angular velocity measurement representative of the first target sensor;
calculating an action continuity index of the indoor personnel based on the following formula:
B indicator ＝DTW(M i-1 ,M i )
wherein B is indicator An action continuity index representing indoor personnel, a time warping algorithm method represented by DTW, M i An ith step acceleration sequence representing an indoor person, M i-1 I-1 th step representing indoor personnelSequence of valvular acceleration, a t Indicating the acceleration measurement amplitude at time t, acc x 、acc y And acc (sic) z Respectively representing three-axis measurement values of the accelerometer;
calculating a motion quality index based on the following formula:
C indicator ＝A indicator ·B indicator
Wherein C is indicator Representing the motion quality index.
Optionally, the innovation value noise matrix computing module 330 is specifically configured to: under the condition that the indoor position scene is determined to be effective and the motion quality index is smaller than a preset threshold value, calculating a fusion positioning system innovation value based on the following formula:
wherein alpha is k Representing the innovation value, z of the fusion positioning system k Represents a measurement vector of the fusion positioning system, H represents a measurement matrix of the fusion positioning system,representing a fused positioning system state quantity time prediction vector, wherein k represents epoch time;
the innovation covariance noise is calculated based on the following formula:
wherein,,represents the innovation covariance noise and m represents the sliding window length.
Optionally, the noise estimation adjustment module 340 is specifically configured to: estimating the measurement noise of the fusion positioning system based on the following formula:
wherein R is k Represents the measurement noise of the fusion positioning system, in particular to a covariance noise matrix of the measurement vector,a time update covariance noise matrix representing a fused positioning system state;
adjusting the process noise of the fusion positioning system based on the following formula:
Q k ＝C indicator ·Q 0
wherein Q is k Representing process noise matrix Q of fusion positioning system after epoch k time self-adaptive adjustment 0 Representing the initial process noise matrix of the fusion positioning system.
Optionally, the personal coarse autonomous detection module 350 is specifically configured to: and carrying out rough difference autonomous detection on indoor personnel based on the following formula:
wherein alpha is ′ k The value of the measure of the target innovation is represented,and representing the innovation covariance noise value corresponding to the target innovation measured value.
The indoor personnel positioning device provided by the embodiment of the invention can execute the indoor personnel positioning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the method of locating indoor personnel described in various embodiments of the present invention.
That is, determining an indoor location scene of an indoor person according to continuous fingerprint positioning information of the indoor person; detecting the motion quality of the indoor personnel according to the terminal equipment worn by the indoor personnel to obtain a motion quality index; calculating an innovation value and an innovation covariance noise matrix of a fusion positioning system according to the indoor position scene and the motion quality index; estimating measurement noise of the fusion positioning system according to the innovation covariance noise matrix, and adjusting noise of the fusion positioning system according to the motion quality index; performing coarse error autonomous detection on the indoor personnel according to the innovation value of the fusion positioning system and the innovation covariance noise matrix; and determining a target indoor positioning result of the indoor personnel according to the result of the autonomous coarse detection.
In some embodiments, the method of locating indoor personnel may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the above-described method of locating an indoor person may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the indoor personnel positioning method according to embodiments of the present invention in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or 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.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for locating an indoor person, comprising:
determining an indoor position scene of an indoor person according to continuous fingerprint positioning information of the indoor person;
detecting the motion quality of the indoor personnel according to the terminal equipment worn by the indoor personnel to obtain a motion quality index;
calculating an innovation value and an innovation covariance noise matrix of a fusion positioning system according to the indoor position scene and the motion quality index;
estimating measurement noise of the fusion positioning system according to the innovation covariance noise matrix, and adjusting noise of the fusion positioning system according to the motion quality index;
performing coarse error autonomous detection on the indoor personnel according to the innovation value of the fusion positioning system and the innovation covariance noise matrix;
and determining a target indoor positioning result of the indoor personnel according to the result of the autonomous coarse detection.
2. The method of claim 1, wherein the determining the indoor location context of the indoor person from the continuous fingerprint location information of the indoor person comprises:
acquiring the positioning position of the indoor personnel in the target indoor scene according to a basic fingerprint positioning method;
And under the condition that the continuous set number of positioning positions are determined to belong to the uniform positioning positions, determining the indoor position scene of the indoor personnel as the target indoor scene.
3. The method of claim 1, wherein the detecting the motion quality of the indoor personnel according to the terminal device worn by the indoor personnel to obtain the motion quality index comprises:
calculating the dynamic index of the terminal equipment according to a first target sensor of the terminal equipment worn by the indoor personnel;
calculating an action continuity index of the indoor personnel according to a second target sensor of the terminal equipment worn by the indoor personnel;
and calculating the motion quality index according to the dynamic index and the motion continuity index.
4. A method according to claim 3, wherein said calculating the dynamic index of the terminal device from the first target sensor of the terminal device worn by the indoor person comprises:
calculating the dynamic index of the terminal equipment based on the following formula:
wherein A is indicator Represents the dynamic index omega e Representing the eastern angular velocity measurement, ω, of the first target sensor n -representing a north angular velocity measurement of the first target sensor;
calculating an action continuity index of the indoor personnel according to a second target sensor of the terminal equipment worn by the indoor personnel, wherein the action continuity index comprises the following steps:
calculating the action continuity index of the indoor personnel based on the following formula:
B indicator ＝DTW(M i-1 ，M i )
wherein B is indicator Representing the action continuity index of the indoor personnel, DTW representing a time warping algorithm method, M i Representing the ith step acceleration sequence of the indoor person, M i-1 An i-1 th step acceleration sequence representing the person in the room, a t Indicating the acceleration measurement amplitude at time t, acc x 、acc y And acc (sic) z Respectively representing three-axis measurement values of the accelerometer;
the calculating the motion quality index according to the dynamic index and the action continuity index comprises the following steps:
calculating the motion quality index based on the following formula:
C indicator ＝A indiCator ·B indicator
wherein C is indicator Representing the motion quality index.
5. The method of claim 1, wherein said calculating a fused positioning system innovation value and innovation covariance noise matrix from the indoor location scene and the motion quality indicator comprises:
under the condition that the indoor position scene is determined to be effective and the motion quality index is smaller than a preset threshold value, calculating the innovation value of the fusion positioning system based on the following formula:
Wherein alpha is k Representing the innovation value, z of the fusion positioning system k Represents a measurement vector of the fusion positioning system, H represents a measurement matrix of the fusion positioning system,representing a fused positioning system state quantity time prediction vector, wherein k represents epoch time;
calculating the innovation covariance noise based on the following formula:
wherein,,representing the innovation covariance noise, m representing the sliding window length.
6. The method of claim 1, wherein estimating the fused positioning system measurement noise from the innovation covariance noise matrix and adjusting the fused positioning system process noise from the motion quality indicator comprises:
estimating the measurement noise of the fusion positioning system based on the following formula:
wherein R is k Representing the measurement noise of the fused positioning system,a time update covariance noise matrix representing a fused positioning system state;
adjusting the process noise of the fusion positioning system based on the following formula:
Q k ＝C indiCator ·Q 0
wherein Q is k Representing process noise matrix Q of fusion positioning system after epoch k time self-adaptive adjustment 0 Representing the initial process noise matrix of the fusion positioning system.
7. The method of claim 1, wherein said automatically detecting the indoor personnel for gross errors based on the fused positioning system innovation values and the innovation covariance noise matrix comprises:
And carrying out rough difference autonomous detection on the indoor personnel based on the following formula:
wherein, alpha' k The value of the measure of the target innovation is represented,and representing the innovation covariance noise value corresponding to the target innovation measured value.
8. A positioning device for indoor personnel, comprising:
the indoor position scene determining module is used for determining an indoor position scene of the indoor personnel according to the continuous fingerprint positioning information of the indoor personnel;
the motion quality index acquisition module is used for detecting the motion quality of the indoor personnel according to the terminal equipment worn by the indoor personnel to obtain a motion quality index;
the innovation value noise matrix calculation module is used for calculating an innovation value and an innovation covariance noise matrix of the fusion positioning system according to the indoor position scene and the motion quality index;
the noise estimation and adjustment module is used for estimating the measurement noise of the fusion positioning system according to the innovation covariance noise matrix and adjusting the process noise of the fusion positioning system according to the motion quality index;
the personnel coarse difference autonomous detection module is used for performing coarse difference autonomous detection on the indoor personnel according to the innovation value of the fusion positioning system and the innovation covariance noise matrix;
And the target indoor positioning result determining module is used for determining the target indoor positioning result of the indoor personnel according to the result of the coarse difference autonomous detection.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of locating indoor personnel of any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to execute the method of positioning indoor personnel according to any one of claims 1-7.
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