Method and device for personal location based on motion measurement information

[0094] Example 1

[0095] A personal positioning method based on motion measurement information, comprising the following steps:

[0096] 1) Calibration of motion model parameters

[0097] In this example, L=100m, N 1 = 196, T 1 =158.05s, N 2 = 138, T 2 = 60.98s, so we get:

[0098] b w = lg ( N 2 / N 1 ) lg ( N 1 T 2 / N 2 T 1 ) = lg ( 138 / 196 ) lg [ ( 196 × 60.98 ) / ( 138 × 158.05 ) ] = 0.5833

[0099] C w = L / N 1 ( N 1 / T 1 ) b w = 100 / 196 ( 196 / 158.05 ) 0.5833 = 0.4500

[0100] In the same way, two ways of jogging and fast running are used to complete the whole process L, (N 1 ', T 1 ′) and (N 2 ', T 2 ′) are (100, 39.28) and (75, 23.45) respectively, from formula (10) we can get (C r , b r ). In this example, the calculation yields:

[0101] b r = lg ( N 2 ′ / N 1 ′ ) lg ( N 1 ′ T 2 ′ / N 2 ′ T 1 ′ ) = lg ( 75 / 100 ) lg [ ( 100 × 23.45 ) / ( 75 × 39.28 ) ] = 1 . 2609

[0102] C r = L / N 1 ′ ( N 1 ′ / T 1 ′ ) b r = 100 / 100 ( 100 / 39.28 ) 1.2609 = 0.3078

[0103] Next, calculate the motion classification step frequency threshold f according to formula (4) t. In this example,

[0104] f t = C w - 1 b w + 1 1.9444 1 b w + 1 + C r - 1 b r + 1 1.9444 1 b r + 1 2 = 2.3899

[0105] The calibrated motion model parameters (C w , b w ), (C r , b r ) and the calculated motion classification cadence threshold f t are stored in the system non-volatile memory of the device as the parameters of the user's motion model. Each user can also call their own motion model parameters according to their own different ID numbers before use to ensure that the parameters are correct.

[0106] 2) Receive data from sensor

[0107] In this example, set the starting point location is (100, 33, 0.6) in meters.

[0108] 3) Determine the current orientation and the difference between the actual movement direction and orientation

[0109] In this example, a x =0.06g, a y =0.15g, where g is the acceleration of gravity. From formula (5), it can be calculated that θ=arctan(a x /a y )=21.8°, obviously θ∈[-45°, 45°], so θ=0 is finally determined. Indicates that the user was walking forward at the time.

[0110] 4) Determine the current actual movement direction and cadence

[0111] In this example, the current orientation is ψ=25° and θ=0, indicating that the user is moving in the direction of 25° north by east. The step frequency f can be obtained from the linear acceleration pulse period measured by the vertical axis, f = 2.149 Hz in this example.

[0112] 5) Determine the corresponding step size according to the motion model by the step frequency

[0113] In this example, f=2.149Hz t = 2.3899 Hz, so it is judged as a walking state. Then, the corresponding step size is calculated according to formula (3). In this example Meter.

[0114] 6) Calculate the current position from the actual movement direction and step length

[0115] In this example, the slope angle φ=0, the step size l x-y =l=0.7031, l z =0, the heading angle ψ=25°, so there are:

[0116] x 1 =x 0 +l x-y sinψ=100+0.7031×sin25°=100.2971

[0117] y 1 =y 0 +l x-y cosψ=33+0.7031×cos25°=33.6372

[0118] z 1 =z 0 +l z =0.6+0=0.6

[0119] After completing the next step, perform steps 2) to 6) again, and obtain (x 2 , y 2.z 2 ). In this way, you can keep getting (x 3 , y 3 ,z 3 ), (x 4, y 4 ,z 4 )…(x n , y n ,z n ), and finally get the current positioning and all motion trajectories.

[0120] 7) When GPS information or manual positioning information is input, perform positioning correction and motion model parameter correction calculation steps, otherwise, set all corrections to 0. Then, the correction amount is added to the corresponding parameter through the positioning and motion model parameter correction steps.

[0121] In this example, the above conditions are satisfied, N=266>N t =100, so correction is possible. During this time, let ΔS GPS =120.35m, ΔS m = 115.78, so we have:

[0122] Δl = Δ S GPS - Δ S m N = 120.35 - 115.78 266 = 0.0172

[0123] Therefore, the corrected step size is l=l+Δl=0.7031+0.0172=0.7203 meters.

[0124] Example 2

[0125] A personal positioning device based on motion measurement information, comprising:

[0126] 1) A motion sensing device, including: a three-axis accelerometer provides motion acceleration; a three-axis gyroscope provides motion angular velocity; a three-axis electronic compass provides heading and attitude angle; and a barometric altimeter provides current altitude information. Not all of these sensors are necessary, and in some implementation cases, there may be no gyroscope, or a single-axis electronic compass and gyroscope, etc., may also not have an altimeter. The motion sensor device collects various motion state and posture information of the user, and provides it to the information processing and data storage device.

[0127] 2) Manual and GPS positioning information input device. The GPS positioning information input device can be fixedly designed on the system processing board, or can be connected to the system through a communication interface through a cable. The GPS information may be ordinary civilian GPS information, or may be DGPS positioning information with higher precision obtained through a differential station. The manual information input device may be a keyboard or a touch screen or a soft keyboard displayed on the screen. All this information is also entered into the information processing and data storage devices.

[0128] 3) Information processing and data storage device, the information processing device includes a central processing unit composed of an embedded microprocessor or microcontroller, etc. It can be an embedded microprocessor such as ARM, MIPS or DSP, or a low-end MCS -51 microcontroller and other microcontrollers. The data storage device includes a program and data storage space composed of a memory or a non-volatile storage device. The information processing device is responsible for receiving the information from the motion sensing device and the manual and GPS positioning information input device, running the program designed by the method proposed by the present invention, and obtaining the navigation and positioning results, current motion state and parameters and other information. The data storage device stores programs and data, as well as model motion parameters. The processing result is output to the positioning and navigation result output device.

[0129] 4) The positioning and navigation result output device, the output circuit is connected with the core processor, and provides the function of outputting and displaying the processed personal positioning data. It has a variety of ways to output: one way is to record and output personal positioning information to a corresponding host device such as a computer through a standard interface such as RS-232/RS-422/RS-485, or USB, etc.; it can also have LCD Screen output, it can reflect the walking distance, direction and height of people on the screen displaying the electronic map in real time, so that users can clearly understand their location and environment; it can also have a wireless transmitter module, which can provide positioning data through The ability to transmit wireless signals allows the command to know the location of all current emergency responders in real time. Not all of these output devices are necessary, and there may be only one or two of them.