Geomagnetic field-based indoor positioning method

Abstract

The invention discloses a geomagnetic field-based indoor positioning method. The method comprises the following steps: 1, establishing a geomagnetic field database; 2, outputting a magnetic field intensity finite point set A={a1, a2, a3..., ap} in the movement carrier walking process and a finite point set {X, Y}={(x1, y1), (x2, y2), (x3, y3), ..., (xp, yp)} of the movement carrier walking track position through an inertial navigation system, obtaining a new magnetic field intensity finite point set B={b1, b2, b3, ..., bp} according to every relative position and the geomagnetic field database, calculating the whole locus Hausdorff distance dH(HN, H'N) of the movement carrier according to the magnetic field intensity finite point set A={a1, a2, a3..., ap} and the new magnetic field intensity finite point set B={b1, b2, b3, ..., bp} through the inertial navigation system; and 3, obtaining an indoor locus according to the Hausdorff distance dH(HN, H'N) through the inertial navigation system, and traversing the whole earth magnetic field database according to the indoor locus through the inertial navigation system to obtain the current concrete indoor position. The method realizes high positioning accuracy of indoor positioning, and can meet modern people's demands.

Description

technical field [0001] The invention relates to the technical field of geographic navigation, in particular to an indoor positioning method based on the geomagnetic field. Background technique [0002] In today's military and people's livelihood, navigation technology has become a very important technology. As one of the current very popular technologies, there are many means of navigation, generally radio navigation, astronomical navigation, inertial navigation and satellite navigation, and Existing navigation technologies are flawed: [0003] Radio navigation—radio navigation signals include WLAN, GPS navigation and radar navigation, etc. Although it overcomes the problem of error accumulation and has high precision, the layout cost is high, and at the same time, it is susceptible to signal interference caused by the internal structure of buildings, so it cannot be suitable Navigate indoors. [0004] Celestial navigation and satellite navigation—celestial navigation is m...

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Problems solved by technology

[0003] Radio navigation—radio navigation signals include WLAN, GPS navigation and radar navigation, etc. Although it overcomes the problem of error accumulation and has high precision, the layout cost is high, and at the same time, it is susceptible to signal interference caused by the internal structure of buildings, so it cannot be suitable Navigate indoors

[0004] Celestial navigation and satellite navigation—celestial navigation is mainly a navigation technology that uses the measurement of natural celestial bodies to determine its own position and course; satellite navigation refers to the technology that uses navigation satellites to navigate and position users on the ground, sea, air and space. Common GPS navigation, Beidou navigation, etc. are all satellite navigation, and its celestial navigation and satellite navigation are mainly used on spacecraft, but the cost is relatively high indoors, and the navigation is easily affected by the internal structure of the building, so that the navigation accuracy is not enough high

[0005] Inertial navigation—inertial device navigation uses inertial components (accelerometers) to measure the acceleration of the carrier itself, and obtains the speed and position through integration and calculation, so as to achieve the purpose of positioning the carrier. Inertial device navigation is currently the most widely used technology , it has the characteristics of strong autonomy and strong ability to resist external interference, but it will produce the problem of cumulative error over time. Among them, the inertial navigation of geomagnetic matching is widely used in inertial navigation, and the inertial navigation of geomagnetic matching is generally used Carriers such as missiles and aircraft carry out matching calculations in a wide range outdoors, but indoor navigation is easily affected by obstacles such as building structures and metal objects that will interfere with the magnetic field, making indoor navigation accuracy unguaranteed, and The existing geomagnetic database is difficult to meet the needs of indoor navigation, and its cost is relatively high, which cannot meet the current development needs

[0006] All in all, the existing navigation technology is generally used outdoors, and the accuracy of using these outdoor navigation technologies indoors is not very high, so it cannot be positioned accurately, so it cannot help people to locate and navigate, and cannot meet the use requirements

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