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Indoor positioning method based on MEMS insert device and android smart mobile phone fusion

An inertial device and indoor positioning technology, which is applied in the direction of instruments, surveying and mapping and navigation, and measuring devices, can solve problems such as increased positioning errors, system errors that cannot maintain a convergent state, and indoor positioning failures, so as to eliminate cumulative errors and algorithm execution. The effect of short time and meeting real-time requirements

Inactive Publication Date: 2015-06-17
BEIJING UNIV OF TECH
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Problems solved by technology

However, after working for a long time, the system error cannot maintain the convergence state, and the positioning error will increase sharply, resulting in the failure of indoor positioning

Method used

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  • Indoor positioning method based on MEMS insert device and android smart mobile phone fusion
  • Indoor positioning method based on MEMS insert device and android smart mobile phone fusion
  • Indoor positioning method based on MEMS insert device and android smart mobile phone fusion

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Embodiment Construction

[0033] Further description will be made below in conjunction with drawings and embodiments. The overall block diagram of the system of the present invention is shown in figure 1 .

[0034] The present invention is based on the research of the indoor positioning and navigation method of MEMS inertial devices. The MPU6050 mainly wirelessly transmits the measurement data of people's walking to the Android smart phone through Bluetooth, and calculates the displacement information of people's walking through a certain algorithm; combined with the mobile phone built-in The barometer sensor, acceleration sensor, and electronic compass calculate the pedestrian's heading and altitude information through a certain algorithm; finally, the three-dimensional space movement track of the pedestrian is displayed on the mobile phone, and the indoor positioning and navigation function of the pedestrian is realized.

[0035] The navigation and positioning flow chart of the system of the present...

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Abstract

The invention discloses an indoor positioning method based on MEMS insert device and android smart mobile phone fusion, and belongs to the field of data processing and mobile terminal application. The method is characterized in that a Kalman filtering-based zero speed correction accumulative error elimination algorithm is adopted based on the motion characteristics of indoor positioning pedestrians and the drift error of an MEMS inert device on the premise of MEMS insert device and android smart mobile phone fusion; and different data sampling modes are designed based on the advantages and disadvantages of a gyroscope and an electron compass and the motion characteristics of the pedestrians in the pedestrian motion course angle determination process, and are fused with a particle filtering course angle determination algorithm in order to further increase the pedestrian course precision. The method can reduce the accumulative error in the inertial navigation resolving process, and allows accurate pedestrian displacement information and course angle information to be obtained.

Description

Technical field: [0001] The invention belongs to the field of data processing and mobile terminal application. It is an indoor positioning method that uses sensor technology, Bluetooth data transmission technology, computer technology, digital signal processing technology, android programming technology to integrate MEMS inertial devices and Android smartphones. This method can reduce the cumulative error in the inertial navigation calculation process, and obtain more accurate pedestrian displacement information and heading angle information. Background technique: [0002] Indoor is the place with the most intensive human activities, so the research on indoor location-based services is of great significance. Due to the characteristics of multipath, non-line-of-sight, and complex and changeable indoor environments, GPS and other widely used outdoor positioning technologies cannot be applied indoors. Indoor positioning and navigation technology based on MEMS inertial sensors...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16G01C21/206
Inventor 张会清代汝勇
Owner BEIJING UNIV OF TECH
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