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Indoor localization method based on foot inertia sensor

An inertial sensor and indoor positioning technology, which is applied in the direction of instruments, special data processing applications, measuring devices, etc., can solve the drift problem that cannot be solved, it is difficult to meet real-time positioning, and the positioning accuracy is not high.

Inactive Publication Date: 2014-12-10
XIAMEN UNIV
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Problems solved by technology

However, these methods have some shortcomings: first, after adding sensors such as magnetometers, the magnetic field is easily disturbed, which will directly lead to drift or even errors in the positioning direction; second, WIFI and map positioning methods need to collect data in advance, and the workload Larger, and the positioning accuracy is not high; in addition, the calculation of the particle filter algorithm is very large, it is difficult to meet the requirements of real-time positioning; finally, although the existing similar Kalman method can eliminate the cumulative error, the drift problem cannot be solved

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  • Indoor localization method based on foot inertia sensor
  • Indoor localization method based on foot inertia sensor
  • Indoor localization method based on foot inertia sensor

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Embodiment Construction

[0067] Such as figure 1 , 2 As shown, a kind of indoor positioning method based on foot inertial sensor of the present invention, specifically comprises the following steps:

[0068] Step 1. Collect the data of accelerometer (acceleration sensor or direction sensor) and gyroscope in real time to obtain pedestrian walking direction information and count steps:

[0069] (1) Initial alignment at the beginning of walking, determine the starting point of positioning, and determine the initial yaw angle through the initial data of the gyroscope;

[0070] (2) After the coordinate transformation of the acceleration and angular velocity output by the accelerometer and gyroscope, the state variable as the original positioning information of time k is obtained through integration respectively Include location information (x k the y k z k ), velocity information (v xk v yk v zk ) and attitude matrix (roll k pith k heading k );

[0071] (3) Use the output data of the acc...

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Abstract

The invention discloses an indoor localization method based on a foot inertia sensor. According to the indoor localization method, a framework of a grid cell path integrating method integrated and simulated on the basis of extended Kalman filter estimation is used; the information of localization positions and directions is obtained by calculating data of the inertia sensor; a plurality of condition judging criteria are used by zero-velocity correction for judging whether the feet touch the ground or not; the current velocity is adjusted to zero and the Kalman filter estimation is triggered when the conditions are met; the calculated nonlinear error increase of the velocity and the position information are corrected; then the velocity information is used as input and a grid cell path integration method is used for further eliminating drift error of the position information.

Description

technical field [0001] The invention relates to an indoor positioning method based on a foot inertial sensor. Background technique [0002] Location-based services (LBS) are very important to people's life. The core technology of LBS is positioning. At present, outdoor positioning technologies include relatively mature GPS positioning and mobile communication system positioning, but indoors often face problems such as wireless signal attenuation and positioning signal decline. In order to meet people's needs for indoor positioning, many indoor positioning technologies have emerged. [0003] Indoor positioning systems are used to provide location information of individuals and devices. Inertial sensor positioning uses the dead reckoning method to achieve continuous and seamless positioning. The dead reckoning method involves three factors: the number of steps, the heading, and the step length. The number of steps and the heading can be obtained through inertial sensors. In...

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Application Information

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IPC IPC(8): G01C21/18G01C25/00G06F19/00
CPCG01C21/18G01C21/206G01C25/005
Inventor 郑灵翔郑贤超黄民政黄苏扬林詹健唐玮玮蔡燕福伍俊华
Owner XIAMEN UNIV
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