Adaptive Stationary Detection Method for Indoor Personnel Autonomous Positioning System
A technology of autonomous positioning and static detection, which is used in measurement devices, surveying and navigation, and navigation through speed/acceleration measurement, etc. It can solve the problems of inaccurate detection in static intervals, affecting the effect of zero-speed correction algorithm and positioning accuracy, etc. To achieve the effect of accurate detection results
Active Publication Date: 2018-11-30
湖南云箭格纳微信息科技有限公司
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[0005] Since the existing static detection algorithms all use a fixed detection threshold, when it is applied to the walking mode of people changing gait (such as walking and running alternately, etc.), it will lead to inaccurate detection of the static interval, which will affect the zero-speed correction algorithm. Accuracy of effect and positioning
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[0024] In the specific implementation process, the inertial measurement sensor is installed at the toe of the shoe, and the sampling rate is 200Hz. The experiment runs along the L-shaped corridor with a long side of 31m, a short side of 14m, and a width of 2.3m.
[0025] combined with figure 1 , the present invention comprises the following steps:
[0026] Step 1 (including Step A 1 ~A 5 ): Detect the static and motion intervals of the first step.
[0027] A 1 . Collect the output of the kth sampling point of the gyroscope w k The three elements in represent the angular velocities of the three axes of the gyroscope at time k respectively, and the range of variation is ±1200 degrees / second, and the length of the sliding window is W, which is an odd number between 3 and 9;
[0028] A 2 . Obtain the average energy value E of the angular velocity corresponding to the sampling point in the window from sampling time n to n+W-1,
[0029]
[0030] A 3 . Obtain a fixed thr...
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The invention discloses a self-adaptive static detection method for an indoor personnel self-localization system. The self-adaptive static detection method comprises the following steps: A) detecting a static section and a moveable section in a first step; B) detecting the static section and the moveable section in the No.S step, wherein S is more than or equal to 2, and the step B) comprises the following steps: B1) calculating the average energy P of the angular velocity in the moveable section in the No.S-1 step; B2) taking Th'=Pr, if Th' is less than E, confirming a detection result as static, and if not, confirming as moveable, wherein the value range of the proportionality coefficient r is (0, 1), r is acquired through sample data training, and E is the average energy value of the angular velocity of the corresponding sampling site in the window from (n, n+w-1) to n+w-1 at the sampling moment in the first step. According to the method provided by the invention, the detection for the static section under multi-step motion modes can be realized, and the detection result is more accurate.
Description
technical field [0001] The invention belongs to the technical field of autonomous positioning of indoor personnel, and in particular relates to an adaptive static detection method of an autonomous positioning system for indoor personnel, specifically a method for robustly detecting the time period when footsteps are stationary on the ground under various gait conditions . Background technique [0002] The indoor personnel autonomous positioning system is composed of an inertial measurement component and a handheld processing terminal. It locates personnel by measuring parameters such as the acceleration and angular velocity of personnel movement. Because of its high measurement accuracy, real-time performance, no need to pre-install any external facilities, and strong autonomy, it has great military application significance and broad civilian prospects. The indoor personnel autonomous positioning system adopts MEMS (Micro-electromechanical Systems, micro-electromechanical s...
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/206
Inventor 王雅敏
Owner 湖南云箭格纳微信息科技有限公司