Indoor localization step size calculation method

A calculation method and indoor positioning technology, applied in navigation calculation tools, measuring devices, instruments, etc., can solve the problem of large direct integration error of acceleration, and achieve the effect of avoiding error accumulation and improving accuracy

Inactive Publication Date: 2016-06-22
TIANJIN UNIV
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Problems solved by technology

Due to the large error of the direct integration of the acceleration, many researchers propose to use the existing infrastructure (such as:

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  • Indoor localization step size calculation method

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Embodiment Construction

[0037] The technical solution of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] The inertial measurement unit (IMU) selected by the present invention is the SPACEPOINTSCOUT produced by PNI Company, which has a built-in three-axis accelerometer, three-axis gyroscope and three-axis magnetometer. Place the IMU at the waist of the pedestrian, such as figure 2 shown. Since the waist is located near the center of gravity of the human body, its movement is more stable than that of other parts of the body during travel, without complex movements such as large left-right swings or up-and-down flips. Fixing the IMU on the waist is simple to install and has less impact on the travel process of people. Small.

[0039] Step 1. When pedestrians walk freely, the three-axis acceleration and quaternion of pedestrian movement can be collected.

[0040] Step 2. Use the collected quaternions to g...

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Abstract

The invention discloses an indoor localization step size calculation method.The method includes the steps that an inertial measurement unit is arranged on the waist of a user, and inertial sensor data of the user is obtained in the indoor walking process of the user and includes accelerated speed and a quaternion; the quaternion is used for generating a coordinate-transformation matrix, and the accelerated speed based on an IMU carrier coordinate system is converted into a geographic coordinate system; triaxial resultant accelerated speed of gait detection is obtained according to triaxial accelerated speed in the geographic coordinate system; resultant accelerated speed data is processed to obtain a zero-speed correction point to complete gait detection, and the continuous motion of the user is divided into all single steps; an inverted pendulum model is used for calculating the distance of each single step of the user namely a single step size, the single step sizes are accumulated to obtain the total distance of user motion, and the motion step size is obtained.Error accumulation of quadratic integral is effectively avoided, and the accuracy of indoor localization step size calculation is effectively improved without affecting walking of the user.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a method for calculating the step length of indoor positioning. Background technique [0002] Positioning technology, simply put, is to obtain the location information of objects. With the development of society and the progress of science and technology, people's demand for positioning and navigation in life and work continues to grow. The global satellite positioning system has completed the positioning in the outdoor open environment well; and for the indoor environment and the environment with weak satellite signals, the use of inertial navigation technology can realize the positioning and tracking of personnel. [0003] In recent years, with the development of inertial technology and electronic processing technology, the cost performance of inertial measurement unit (Inertial Measurement Unit, IMU) has been continuously improved, which has led to the rapid develo...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 刘昱李圣龙
Owner TIANJIN UNIV
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