Method for locating walker

Abstract

The invention relates to a positioning method suitable for walkers, belonging to the field of navigation, guidance and control areas, which comprises three parts: identify the motion state of the walker; calculate the real-time stride of the walker; work out the real-time latitude and longitude of the location of the walker by combining with course angle. The change of the location of the walker is mainly realized by the motion of two legs; walking makes body vibrate regularly; measure and analyze the features of the vibration; adopt the peak capture method aiming at the acceleration sampling to extract the real-time stride frequency of the walker; utilize the relation between the stride frequency and stride to work out the real-time stride of the walker; the real-time stride as the walking distance of the walker between the adjacent output value is combined with the course angle output by an electromagnet compass; and work out the real-time latitude and longitude of the location of the walker by utilizing the Earth model. Before estimating the stride, make a judgment that whether n acceleration output values represent the walking motion of the walker; the judgment is based on the energy of sampling acceleration. The positioning method suitable for walkers has the advantages that the positioning method can judge with high accuracy whether the walker is walking, efficiently improving the location accuracy of the walker.

Description

technical field [0001] The invention relates to a method in the technical field of navigation, in particular to a positioning method suitable for pedestrians. Background technique [0002] Pedestrian positioning is an important part of location services. At present, the Global Positioning System (GPS) is the mainstream means of pedestrian positioning. However, the accuracy of GPS signals will deteriorate in many areas due to vegetation, mountains, high-rise buildings, and multi-path effects. Failed to output results. The positioning technology based on the motion characteristics of pedestrians provides the possibility to realize the uninterrupted positioning of pedestrians. In the positioning of vehicles, ships and aircrafts, the strapdown inertial navigation system (INS) is an important means to assist GPS to achieve uninterrupted positioning, but it is not suitable for pedestrians for the following reasons: (a) The strapdown inertial navigation system requires Three orth...

AI Technical Summary

Problems solved by technology

However, this method has the following defects: (a) it does not judge whether the pedestrian is in a walking state, and directly uses the original sampling of the accelerometer as the basis for calculating the walking distance, which leads to the pedestrian's actions other than walking (for example, standing still or in situ The accelerometer output vibration characteristics caused by irregular motion) are mistakenly used as the basis for stride estimation, thus causing errors in the calculation of walking distance; (b) real-time step distance is not used in the calculation of pedestrian walking distance, but The average step distance of a specific time period is used, which increases the cumulative error in calculating the walking distance; (c) when analyzing the vibration characteristics output by the accelerometer, the unprocessed original sampling is used, and the mixed noise introduces error; (d) the heading angle of pedestrian motion is not measured, and the heading angle used in dead reckoning is estimated, resulting in cumulative azimuth errors

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