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Indoor personnel positioning method

A positioning method and personnel technology, applied in the field of indoor personnel positioning, can solve the problems of WIFI signal being easily interfered, unable to locate, poor positioning accuracy, etc.

Inactive Publication Date: 2017-01-11
南京巴乌克智能科技有限公司
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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.

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings and given embodiments, but is not limited thereto.

[0035] A method for positioning indoor personnel, the specific steps are:

[0036] a. Use the step frequency step method to locate the plane position of the indoor personnel;

[0037] The azimuth θ of the indoor personnel detected by the first geomagnetic field sensor is read in real time by the first CPU 1 , θ 2 , θ 3 …theta k-1 , θ k , θ k+1 The azimuth is an angle offset northward in the due east direction, where k is a positive integer;

[0038] The acceleration value a in the vertical direction detected by the first inertial sensor detected by the first CPU in real time 1 、a 2 、a 3 …a k-1 、a k 、a k+1 , and for the detected acceleration value a 1 、a 2 、a 3 …a k-1 、a k 、a k+1 Carry out FIR filter, calculate the time interval T between acceleration 0 points, be the time that indoor personnel walks ha...

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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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 曹元
Owner 南京巴乌克智能科技有限公司
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