User indoor motion trajectory matching method based on imu data

A technology of motion trajectory and matching method, which is applied in the direction of measuring devices, instruments, surveying and navigation, etc., can solve the problems of unknown start position and end position, indoor motion trajectory cannot match positioning, etc., and achieve the effect of matching positioning

Active Publication Date: 2017-09-29
成都卫瀚科技合伙企业(有限合伙)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the existing indoor movement distance and movement direction are relative displacements and directions, and its starting position and end position on the indoor map are unknown, resulting in that the indoor movement trajectory cannot be displayed on the indoor map. Problems with matching targeting

Method used

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  • User indoor motion trajectory matching method based on imu data
  • User indoor motion trajectory matching method based on imu data
  • User indoor motion trajectory matching method based on imu data

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specific Embodiment approach 1

[0017] Specific implementation mode one: refer to Figure 5 Specifically describe this embodiment, the IMU data-based method described in this embodiment

[0018] A user indoor motion trajectory matching method, which includes the following steps:

[0019] Step 1, using nodes to form an indoor reference map;

[0020] Step 2. Obtain the corner matrix GD of the indoor reference map and the weight matrix W of the indoor reference map according to the indoor reference map;

[0021] Step 3: Use the IMU data to obtain the indoor motion trajectory, obtain the corner direction and the distance matrix TD between adjacent nodes according to the indoor motion trajectory, match the indoor motion trajectory with the indoor reference map, and obtain the indoor reference map that contains the indoor motion trajectory Trajectory set A with the same number of nodes;

[0022] Step 4. Exclude the trajectory of repeated points from the trajectory set A in step 3, and obtain the trajectory set ...

Embodiment

[0030] Assume that the indoor motion trajectory of the user obtained from the IMU data is as follows: Figure 4 As shown, w 1 、w 6 Indicates the starting point and ending point of the user's movement, w 2 -w 5 Indicates the corner point during the user's movement. Let the left turn be -1, and the right turn be 1, which is recorded as the corner direction Direction=[-1 -1 -1 -1]. The red numbers between two adjacent points indicate the distance between the two points, recorded as TD=[812 47 12 13].

[0031] For the matching between the user's indoor motion trajectory and the reference map, the matching result of the user's indoor motion trajectory in the reference map should be a trajectory with a similar shape, assuming TR(v a ,v b ,v c ,v d ,v e ,v f ), where v a , v b , v c , v d , v e , v f respectively with Figure 4 The node w in the user's indoor motion trajectory in 1 、w 2 、w 3 、w 4 、w 5 、w 6 Corresponding. Then this trajectory TR(v a ,v b ,v c...

specific Embodiment approach 2

[0084] Specific embodiment 2: This embodiment is to further explain the user indoor motion trajectory matching method based on IMU data described in specific embodiment 1. In this embodiment, in step 1, the method of using nodes to form an indoor reference map is as follows:

[0085] Use MATLAB software to process the indoor floor plan, select nodes including 1-2 points selected for each room, intersection points between corridors and rooms, corners, and starting and ending points of corridors, and connect lines between points to generate a topology map. Number all points and mark the distance to get a reference map.

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Abstract

The invention discloses an IMU data-based user indoor movement track matching method and relates to the field of IMU data-based user indoor movement track matching. The method solves the problem that the existing indoor movement distance and movement direction have relativity and an initial position and an end position of indoor movement on the map are unknown so that the indoor movement track cannot be matched and positioned on the indoor map. The method comprises constructing an indoor reference map by nodes to obtain a track set A of the indoor reference map, wherein the track set A has the node number the same to that of an indoor movement track, removing repeated node tracks to obtain a track set B, acquiring an indoor movement track set C by a torsion angle matrix GD of the indoor reference map, acquiring a matrix R of the shortest distance between track points of the indoor movement track set C by weight matrix W and D algorithms of the indoor reference map, comparing the matrix R of the shortest distance and a distance TD between adjacent nodes, and acquiring an indoor movement track set D by a threshold value theta . The method can be used for indoor positioning navigation.

Description

technical field [0001] The present invention relates to a user indoor motion trajectory matching algorithm based on IMU data, in particular to realizing the matching and positioning between the user's indoor motion trajectory based on IMU data and the actual indoor map in indoor positioning and navigation, and combining the relative displacement of the user's indoor motion with the actual indoor map. Directions translate to absolute physical positions in the indoor map. Background technique [0002] With the advancement of wireless communication technology and the progress of micro-electromechanical systems, smart phones equipped with inertial measurement units (Inertial Measurement Unit, IMU) are becoming more and more popular. When a user carrying a smartphone is exercising indoors, the IMU will generate a large amount of location-related data information, such as the user's movement distance and movement direction. However, these distances and directions are relative dis...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 徐玉滨范艳云马琳崔扬张立晔
Owner 成都卫瀚科技合伙企业(有限合伙)
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