Personal portable auxiliary multisource locating information correcting method

Abstract

The invention discloses a personal portable auxiliary multisource locating information correcting method which can be used for correcting locating errors by inhibiting inertial drift by together using static gait features during pedestrian movement and external auxiliary electromagnetism locating information. The method comprises the following steps: (1) obtaining accelerated speed, angular speed, and geomagnetism information during the pedestrian movement, and calculating strap-down inertial three-dimensional space locating information; (2) obtaining electromagnetism locating signals and solving the three-dimensional space locating information; (3) carrying out static testing according to pedestrian movement detection constraint conditions; (4) building a local kalman filter by using zero-speed information and magnetic course information, and carrying out filter estimation on pedestrian locating information; and (5) building a main filter, carrying out the filter estimation on the pedestrian locating information after local correction by using the electromagnetism locating information, and finally correcting the pedestrian locating information by using the estimation amount of the main filter so as to obtain final locating information. According to the method, deep integration is carried out on the multisource locating information of pedestrian by using the two filters according to the static gait features during the pedestrian movement, so that the navigation and locating accuracy is improved.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and in particular relates to a method for jointly correcting a positioning error by the static gait characteristics of pedestrian movement and external auxiliary positioning information. Background technique [0002] With the rapid development of mobile communication technology and Internet technology, related applications based on positioning and navigation have attracted more and more attention from people and corresponding enterprises, especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, libraries, underground parking In environments such as farms and mines, it is often necessary to determine the indoor location information of a mobile terminal or its holder. At present, the technology mainly used for personal positioning is mainly divided into three branches: relying on preset node positioning, fully autonomous positioning, and com...

AI Technical Summary

Problems solved by technology

This method only integrates personal motion constraints for inertial navigation and positioning, and cannot suppress inertial drift for a long time, resulting in poor battery life

For another example, the application number is: 201410416423.1, and the patent name is "Indoor Positioning Device and System", which requires a large number of positioning tags. Although the positioning accuracy is high, the implementation is difficult and costly, which is not conducive to promotion

Images