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Indoor positioning direction error correcting method

A heading error, correction method technology, used in navigation, mapping and navigation, navigation calculation tools, etc.

Inactive Publication Date: 2016-12-07
ZHENGZHOU LOCARIS ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The invention provides an indoor positioning heading error correction method, which can adaptively determine the heading error correction model, accurately complete error correction and precision compensation, and solve the problem of heading correction in the process of indoor positioning and navigation

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Embodiment Construction

[0068] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, so as to better understand the present invention, but the protection scope of the present invention is not limited thereto.

[0069] The measuring devices selected in the embodiment are the MPU6050 accelerometer and the HMC5883 magnetometer inertial measurement module, both of which have the same or parallel coordinate axis definitions. The MPU6050 has a measurement range of ±16g, a stability of 0.01g, and a resolution of up to 6.1×10 -5 g. The measuring range of the HMC5883 magnetometer is [-8,8]Gauss, which can be accurate to 1mgauss. The module is connected to the development board with a DuPont line and communicates with the host computer to store data through the Mini USB line.

[0070] Such as Figure 5 As shown, the implementation environment of this embodiment is a typical indoor environment. Due to the presence of a large numb...

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Abstract

The invention belongs to the technical field of indoor navigation positioning and particularly relates to an indoor positioning direction error correcting method. The correcting method includes the steps of: 1) selecting a correcting direction and recording true value of the direction; 2) measuring the correcting direction to obtain a corresponding direction measurement value; 3) calculation of direction error and establishment of a direction error correcting module: calculating the difference between the direction measurement value and the direction true value to obtain the direction error, and establishing the direction error correcting module with unknown parameters by regarding the direction error as a nonlinear function of the direction measurement value; 4) performing curve fitting according to a preset threshold value and determining the parameters in the direction error correcting module; and 5) according to the direction error correcting module, correcting the practical direction. The method can self-adaptably determine the direction error correcting module and accurately complete error correction and precision compensation, and solves a problem of the direction correction during indoor navigation and positioning.

Description

technical field [0001] The invention belongs to the technical field of indoor navigation and positioning, and in particular relates to an indoor positioning heading error correction method. Background technique [0002] The traditional outdoor positioning technology has been able to complete precise positioning by means of the Global Positioning System (Global Positioning System, GPS) and the direct communication between satellites and moving objects. With the improvement of living standards and the development of mobile Internet technology, people's demand for indoor navigation and positioning is increasingly strong. In a large shopping mall, the internal structure of the building is complex, and a wide variety of shops are distributed in different corners. Customers cannot find the target product in a short time. At this time, if indoor navigation and positioning services are provided to provide customers with the location of the shop and product information, Can help cus...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/20
CPCG01C25/00G01C21/206
Inventor 杨洲袁子伦张绘军李冀肖岩
Owner ZHENGZHOU LOCARIS ELECTRONICS TECH CO LTD
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