Synchronous sampling method suitable for walker assembled positioning
A technology of synchronous sampling and combined positioning, applied in positioning, satellite radio beacon positioning systems, beacon systems using radio waves, etc., it can solve the problems of pedestrians moving at a constant speed, affecting filter performance, and sampling time being out of sync. , to achieve the effect of high time tightness, improved effect and reduced principle error
Inactive Publication Date: 2010-09-29
SHANGHAI JIAO TONG UNIV
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Problems solved by technology
However, in the process of realizing this combination, the problem of asynchronous sampling time will be encountered: the sampling period of the GPS receiver is fixed, generally one second, but the movement of the pedestrian is not uniform. The duration is also uncertain, it is difficult to directly align with the GPS sampling time, and the synchronization of the two samplings is directly related to the accuracy of the combined positioning system
There are some problems in this method of synchronous sampling with the latest time: (a) it brings principle error
Both of these cases will create an asymmetry in the observed volume, which will affect the performance of the filter
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[0025] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.
[0026] The test site of this embodiment is on the road around an office building in a certain district of Shanghai, such as image 3 As shown, the experimenter walked around the office building counterclockwise from the starting point. The experimenter walked a total of 434.2m, which lasted 5 minutes and 49 seconds, and walked 636 steps. The accelerometer and electromagnetic compass used in the experiment are integrated in a data acquisition module mounted on the waist of the experimenter, the sampling rate of the accelerometer is 64Hz, the sampling rate of the electr...
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The invention discloses a synchronous sampling method applied to the integrated positioning of a walker, pertaining to the field of navigation technology. The steps are as follows: the sampling period of an electromagnetic compass is set to be the same as the sampling period of GPS, and the initial sampling instants of the compass and the GPS are coincident; whether the walker stops walking in the sampling period of the GPS is judged; whether the walker finishes the current step at the sampling finish time in the sampling period of the GPS is judged; incomplete step information close to the finish time of the sampling period of the GPS is found out, and the equivalent step scope of the step is obtained; the incomplete step information close to the start time of the sampling period of the GPS is found out, and the equivalent step scope of the step is obtained; complete steps in the sampling period of the GPS are found out, and the original step scope of the step is recorded; the equivalent mileage of the walker in the sampling period of the GPS is obtained according to the obtained results, thus realizing the synchronous sampling.
Description
technical field [0001] The invention relates to a sampling method in the technical field of navigation, in particular to a synchronous sampling method suitable for combined positioning of pedestrians. Background technique [0002] Pedestrian positioning is widely used in the fields of security, monitoring and self-navigation. It is simple and easy to use the Global Positioning System (GPS) to locate pedestrians, but the accuracy of GPS signals will be poor in many areas due to the occlusion of vegetation, mountains and tall buildings, and multipath effects, and even the results cannot be output. Therefore, the self-contained dead position estimation The measurement method is applied to the positioning of pedestrians. The method is to install an accelerometer and an electromagnetic compass on the torso of the pedestrian, and judge the occurrence of steps by analyzing the peak value of the output signal of the accelerometer or sensor, and count the number of steps, and then co...
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IPC IPC(8): G01C17/28G01S5/02G01C21/12G01S1/02G01S19/49
Inventor 孙作雷茅旭初党淑雯张克志
Owner SHANGHAI JIAO TONG UNIV