Positioning method of indoor personnel

Abstract

The invention relates to a positioning method of indoor personnel. The method specifically comprises the following steps: a, positioning the plane position of the indoor personnel by a stride frequency and stride method; b, positioning the plane position of the indoor personnel by a time-frequency transformation integral method; c, reading the altitude value Zi of the position of the indoor personnel detected by a pressure height sensor by a CPU (Central Processing Unit); d, fusing the personal position results obtained in the steps a and b; and finally, combining the altitude value Zi of the indoor personnel at the ith moment obtained by the step c to obtain a three-dimensional spatial position (Xi, Yi and Zi) of the indoor personnel at the ith moment as a positioning result of the three-dimensional space to position the indoor personnel. The positioning method provided by the invention measures the position information of the personnel in real time by means of the sensor which measures data such as pressure, motion acceleration and azimuth angle in real time, so that the method is not only high in positioning precision, but also high in reliability.

Description

technical field [0001] The invention relates to a locating method, in particular to a method for locating indoor personnel by using a composite step frequency step method and a time-frequency conversion integral method. Background technique [0002] There are many ways to locate people indoors. For example, positioning based on WIFI signal field strength, positioning based on sound field, positioning based on inertia, and positioning based on TOA (time of arrival), but there are some problems in the above positioning. For example, TOA-based positioning is based on measuring the propagation time of node radio waves. This positioning method not only requires base stations, but also requires strict synchronization between base stations. However, indoor multipath interference is serious, and the cumulative positioning error is relatively large. The accuracy of positioning is poor; based on WIFI positioning, WIFI signals are susceptible to interference indoors, which affects the ...

AI Technical Summary

Problems solved by technology

For example, TOA-based positioning is based on measuring the propagation time of node radio waves. This positioning method not only requires base stations, but also requires strict synchronization between base stations. However, indoor multipath interference is serious, and the cumulative positioning error is relatively large. The accuracy of positioning is poor; based on WIFI positioning, WIFI signals are susceptible to interference indoors, which affects the positioning effect; based on inertial positioning, this method of positioning is simply a method of calculating the position based on acceleration integration. The cumulative error is large; based on sound field positioning, It cannot be positioned in a noisy environment; there is also a simple step size and step frequency to estimate the position, and it cannot be positioned when the step frequency information cannot be extracted.