Flight path deduction and calibration method and device based on indoor geomagnetic track matching

Abstract

The invention discloses a flight path deduction and calibration method based on indoor geomagnetic track matching. The method comprises the following steps of (1) forward and reverse geomagnetic track matching; (2) three-dimensional geomagnetic fingerprints: three-dimensional original geomagnetic data with posture features, which are read by a geomagnetic sensor in a carrier coordinate system, are mapped to uniform three-dimensional geomagnetic fingerprints in a navigation coordinate system; (3) reverse geomagnetic fingerprints: a reverse geomagnetic track is generated according to a forward geomagnetic track; (4) a geomagnetic calibration triggering mechanism based on indoor and outdoor scene detection; (5) an indoor geomagnetic path matching algorithm based on a FastDTW algorithm. According to the flight path deduction and calibration method and device based on the indoor geomagnetic track matching, the training work at an early stage is not needed, an inertial sensor with low cost and auxiliary sensors are used, and an accumulated error of an inertial measurement technique is eliminated by utilizing the difference of indoor different path geomagnetic sequences, so that accurate positioning and navigation by personnel are realized without dependence of external environment deployment and in case of an emergency.

Description

technical field [0001] The present invention relates to the technical fields of wireless positioning and context awareness, and in particular to a track inference calibration method and device based on indoor geomagnetic track matching. Background technique [0002] The urbanization process of our country for more than 30 years has given birth to tens of thousands of large buildings, such as large shopping centers, exhibition centers, transportation hubs, parking lots, terminal buildings, railway stations and so on. Taking shopping malls as an example, by the end of 2015, there were more than 6,000 shopping malls in operation across the country, growing at a rate of 800 per year, with an average daily traffic of more than 500,000 people per function. In my country, there are more than 10,000 large-scale indoor parking lots, more than 2,000 large and medium-sized exhibition centers, more than 8,000 comprehensive and special exhibition projects held every year, and more than 1...

AI Technical Summary

Problems solved by technology

However, the existing inertial measurement technology has high accuracy in short-distance positioning, but has the disadvantage of accumulating errors

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