Indoor trajectory tracking method with self-adaptive step length

A technology of adaptive step size and trajectory tracking, which can be used in measurement devices, instruments, surveying and navigation, etc., and can solve problems such as normal work.

Inactive Publication Date: 2015-05-20
HUAQIAO UNIVERSITY +1
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Problems solved by technology

Therefore, people have more and more demands for indoor location services (LBS), but since satellite navigation and positioning methods such a

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  • Indoor trajectory tracking method with self-adaptive step length
  • Indoor trajectory tracking method with self-adaptive step length
  • Indoor trajectory tracking method with self-adaptive step length

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[0033] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0034] In the method of the present invention, firstly, for the raw data of the MEMS inertial sensor gyroscope, a double-threshold method is adopted to accurately determine the motion state of the pedestrian for the subsequent step length calculation;

[0035] Then, collect the original data of the MEMS inertial sensor accelerometer, use the coordinate change matrix to convert the three-axis acceleration of the carrier (pedestrian) coordinate system to the navigation coordinate system, and automatically record the number of acceleration samples at each step as an adaptive step size The calculated flag factor improves the accuracy of step length calculation.

[0036] The present invention provides an adaptive step length indoor trajectory tracking method. The initial speed and end speed of each walking are set to zero, and it is judged whether it is in a walking sta...

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Abstract

The invention relates to an indoor trajectory tracking method with self-adaptive step length. The indoor trajectory tracking method comprises the following steps: setting the initial speed and the final speed of every step of walking are zero, judging whether to be in a walking state, if so, collecting the number of accelerations in every step, and calculating to obtain the step length of the first step according to the accelerations and the sampling time of the accelerations; by combining with the direction of every step, carrying out vector superposition on every step, and thus obtaining the motion trajectory. The indoor trajectory tracking method has the advantages that by adoption of indoor-pedestrian trajectory tracking based on an MEMS inertial sensor, the accuracy of gesture detection of an inertial navigation positioning system is improved and the errors of the step-length calculation are reduced, so that the accuracy of navigation positioning is improved; and by adoption of the self-adaptive mechanism, the step length of every step can be accurately calculated, the accuracy of navigation positioning can be improved and the promotion of inertial navigation positioning application can be enhanced.

Description

technical field [0001] The invention relates to an indoor positioning and tracking method, and more specifically, to an indoor trajectory tracking method with an adaptive step size. Background technique [0002] As we all know, GPS and other satellite navigation and positioning methods can perform navigation and positioning in places with good outdoor satellite signals, which greatly facilitates people's lives. According to statistics, people spend an average of 80-90% of their time indoors, and 70% of mobile phone usage and 80% of data connection usage connections come from indoors. Therefore, people have more and more needs for indoor location services (LBS), but since satellite navigation and positioning methods such as GPS cannot work normally in indoor environments, how to solve the problem of indoor positioning has become a hot spot for people's research. [0003] At present, a large number of technologies have been applied to indoor positioning. Indoor positioning te...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16G01C21/206
Inventor 莫冰朱金林杨逸纯曾显彬毛文辉蔡钧
Owner HUAQIAO UNIVERSITY
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