Pedestrian indoor position tracking method based on inertial sensor
An inertial sensor and indoor position technology, applied to instruments, measuring devices, and navigation through speed/acceleration measurement, can solve problems such as time-consuming, inconvenient to carry, and poor real-time performance, and achieve position estimation error reduction and improvement The effect of accuracy
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[0019] Specific implementation manner 1: The indoor position tracking method for pedestrians based on inertial sensors in this implementation manner is implemented in the following steps:
[0020] 1. Perform step detection and step length estimation according to the acceleration sensor;
[0021] 2. The heading angle is estimated according to the three-axis angular velocity changes in the gyroscope measurement data, the heading angle is corrected, and then the track is calculated based on the corrected heading angle and the first step, and finally passed according to the step length and the heading angle PDR method to estimate location:
[0022] pos k PDR = x k y k = x k - 1 y k - 1 + sLen k · cos ( h k ) sin ( h k ) - - - ( 1 )
[0023] among them, Represents the estimated PDR position of the k-th step h k Represents the heading angle estimated ...
Example Embodiment
[0025] Specific embodiment two: This embodiment is different from specific embodiment one in that the specific process of step one is as follows:
[0026] The method of peak-zero-valley-time interval is adopted for step detection, that is, each step includes 1 maximum acceleration, 2 zero values, and 1 minimum acceleration, and the time interval is reasonable, and the walking speed is at the normal speed of adults. 2~4 steps per second, set the lower limit of the time interval to 250 milliseconds, S 0 Means start, S i ,i=1...9 represents the i-th step, and the step length estimation is obtained by the following formula
[0027] sLen = 1.07 · acc Ave 3 , acc Ave = X i = 1 N | acc i | N - - - ( 2 )
[0028] Where sLen is the estimated step size, acc i , Acc Ave It represents the acceleration value and average acceleration value in each step, and N represents the number of data collected in each step.
[0029] ...
Example Embodiment
[0030] Specific embodiment three: This embodiment is different from specific embodiment one or two in that the heading angle estimation method in step two is:
[0031] First, perform time integration on the three-axis angular velocity around x, y, and z to obtain the pitch angle, roll angle, and azimuth angle, which are recorded as Pitch, Roll, Azimuth;
[0032] Use (3) to make the first correction to the heading angle:
[0033] heading=c 1 ·Pitch+c 2 ·Roll+c 3 ·Azimuth
[0034] (3) Among them, the pitch angle Pitch represents the amount of rotation around the x-axis, the roll angle Roll represents the amount of rotation around the y-axis, and the azimuth angle Azimuth represents the amount of rotation around the z-axis, where c 1 ,c 2 ,c 3 Is the corresponding weighting factor;
[0035] The heading angle corrected in the first step is corrected in the second step, that is, successively smoothed, which is calculated by the following formula:
[0036] heading i = mean ( X...
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