Method for identifying walking mode and tracing track of pedestrian in room

A walking mode and trajectory tracking technology, applied in the field of indoor pedestrian positioning and trajectory tracking, can solve problems such as reducing system availability and increasing the cost of positioning

Active Publication Date: 2013-12-25
WUHAN UNIV
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This method significantly improves the accuracy, but the additional positioning equipment g

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  • Method for identifying walking mode and tracing track of pedestrian in room
  • Method for identifying walking mode and tracing track of pedestrian in room
  • Method for identifying walking mode and tracing track of pedestrian in room

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Embodiment Construction

[0093] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0094] please see figure 1 , the technical solution adopted in the present invention is: a method for indoor pedestrian walking pattern recognition and trajectory tracking, comprising the following steps:

[0095] Step 1: Use the acceleration sensor and the geomagnetic sensor to collect data at an adaptive sampling frequency to obtain the initial position data of indoor pedestrians;

[0096] Step 2: Use the dead reckoning algorithm to calculate the next point position data of the pedestrian in the room;

[0097] Step 3: Repeat step 1 and step 2, and obtain the walking track of the indoor pedestrian by continuously recording the position data of the indoor pedestrian;

[0098] Step 4: Establish a hidden Markov model of the walking pattern according to the characteristics of the general walking trajectory of ordinary indoor pedestrians;

[009...

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Abstract

The invention discloses a method for identifying a walking mode and tracing a track of a pedestrian in a room. The method comprises the steps: firstly, defining a walking mode of the pedestrian in the room by using directions and speeds as the classifying basis according to the characteristic of a terrain under an indoor environment; then establishing a mathematical modeling for the indoor walking mode by applying a hidden Markov model (HMM) through using acquired acceleration sensor and geomagnetic sensor data; because of the interference of a metal object and the influence of body joggling in the walking process, a track primarily obtained by an indoor positioning system through dead reckoning possibly has large errors, and in the method, calculating the probability of each walking mode by using a viterbi algorithm of the HMM, and finding one group of walking modes with highest possibility; finally, matching an original location to a corresponding walking mode according to an identification result of the walking mode so as to correct an original track, and obtain a walking correcting track of the pedestrian in the room. According to the method, the precision of indoor positioning and track tracing can be remarkably improved.

Description

technical field [0001] The invention relates to the field of indoor pedestrian positioning and trajectory tracking based on inertial sensors, in particular to a method for indoor pedestrian walking pattern recognition and trajectory tracking based on a hidden Markov model. Background technique [0002] Indoor positioning based on inertial sensors is to calculate the number of steps and heading angles of pedestrians by collecting and processing data from acceleration sensors and geomagnetic sensors configured in mobile phones in an indoor environment. Combined with the principle of dead reckoning, on the basis of the known previous position, the current position of the pedestrian is estimated according to the number of steps and heading angle in the walking time period. Then by continuously and seamlessly obtaining the current indoor position of the pedestrian, the trajectory of the pedestrian can be obtained. [0003] In the pedestrian trajectory tracking system based on in...

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Application Information

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IPC IPC(8): G01C21/16
Inventor 牛晓光李蒙魏川博曹飞秦城
Owner WUHAN UNIV
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