Smart phone-based indoor pedestrian positioning and tracking method

A smartphone and pedestrian technology, applied in mapping and navigation, navigation through speed/acceleration measurement, and re-radiation, etc., can solve the problem of low accuracy of indoor positioning technology, avoid excessive dependence, reduce labor consumption, and realize pedestrians The effect of turning

Active Publication Date: 2014-12-03
OCEAN UNIV OF CHINA
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Problems solved by technology

[0008] The purpose of the present invention is to provide a smart phone-based indoor pedestrian positioning and tracking method. The method takes particle filtering as the core, completes inertial navigation positioning correction based

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  • Smart phone-based indoor pedestrian positioning and tracking method
  • Smart phone-based indoor pedestrian positioning and tracking method
  • Smart phone-based indoor pedestrian positioning and tracking method

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Embodiment Construction

[0076] Such as figure 1 Shown in -6, the following embodiments are provided in conjunction with the content of the inventive method:

[0077] Pedestrians walk in an indoor environment holding a smartphone, as follows:

[0078] (1) The smart phone loads the indoor map information, defines the north direction as the direction of 0 degrees of the coordinate system, and defines the left turn threshold as 45, and the right turn threshold as 315;

[0079] (2) The accelerometer, gyroscope and magnetometer sensors embedded in the smartphone collect sensing data, and collect the WIFI RSS signal strength readings of all routers in the room;

[0080] (3) The PDR module detects the pedestrian's footsteps, estimates the pedestrian's step length, and calculates the walking direction according to the sensor sampling data;

[0081] (4) The PDR module inputs the estimated footsteps, step size and direction to the particle filter module;

[0082] (5) All particles of the particle filter move...

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Abstract

The invention discloses a smart phone-based indoor pedestrian positioning and tracking method, comprising the following steps: leading in indoor map information by a smart phone, wherein an indoor map is a vector map; collecting current acceleration information, angular speed information and direction information of the smart phone, and collecting the strength of all indoor WIFI RSS signals; on the basis of PDR, calculating pedestrian steps, pedestrian step lengths and walking directions according to the sampled data; estimating the positions of pedestrians by using a particle filtering algorithm, judging and identifying a swerving scene, a room identification scene and a door detection scene on the basis of WIFI RSS to carry out auxiliary correcting and positioning; and displaying the positions of the pedestrians on the indoor map. The method is high in positioning accuracy and strong in anti-jamming capability, a decimeter-level positioning result can be obtained, the effect on the pedestrian action, caused by the positioning accuracy, is small, the functions of pedestrian swerving, room identification and door detection are effectively achieved, the excessive dependence on the deployment position of a WIFI router is avoided, and the labor consumption in the deployment process is reduced.

Description

technical field [0001] The invention describes a smart phone-based indoor pedestrian positioning and tracking method. Background technique [0002] At present, GPS satellite positioning is the most common way to obtain location information, but because satellite signals are easily blocked by various buildings or interfered by other factors, GPS positioning technology is not suitable for indoor occasions or complex environments with tall buildings. With the development of wireless electronic mobile communication technology, indoor positioning technology will become a powerful supplement to GPS outdoor positioning. Location Based Services (LBS). [0003] The current mainstream indoor positioning methods can be divided into two categories: indoor positioning technology based on pedestrian dead reckoning (PDR) (inertial navigation positioning) and indoor positioning technology based on RSS (radio received signal strength). [0004] The inertial navigation positioning method us...

Claims

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Application Information

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IPC IPC(8): G01C21/18G01S11/06
CPCG01C21/165
Inventor 洪锋张钊储红伟金宗科冯源郭忠文
Owner OCEAN UNIV OF CHINA
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