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Indoor positioning method and positioning system

An indoor positioning and pose technology, applied in the field of indoor positioning and navigation, can solve the problems of high cost and algorithm complexity, and achieve the effects of increasing diversity, improving positioning accuracy, and suppressing the accumulation of errors

Inactive Publication Date: 2017-01-04
CHIGOO INTERACTIVE TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The cost and algorithm complexity of this method are high

Method used

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  • Indoor positioning method and positioning system
  • Indoor positioning method and positioning system
  • Indoor positioning method and positioning system

Examples

Experimental program
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Embodiment 1

[0087] According to the indoor positioning method provided by the embodiment of the present invention, the experiment is carried out in a room of 10 meters * 10 meters, and a set of real magnetic field values ​​is measured every 0.5 meters, and a total of 441 sets are measured, and then spatial interpolation is performed on these 441 sets of magnetic field values The operation forms an 81*81 grid map. The results of walking 300 steps for 20 positioning targets were selected for comparison with the root mean square error (RMSE).

[0088] R M S E = Σ j = 1 20 Σ i = 1 300 ( x i ...

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Abstract

The invention provides an indoor positioning method, which comprises the following steps of distributing a plurality of particles around a positioning object to form a first particle set; utilizing a particle filter and an indoor geomagnetic chart to confirm a first pose and a first normalization weight of each particle in the first particle set according to a displacement value, a direction value and a magnetic field value received by a monitoring sensor of the self-positioning object; confirming a mutation step-size of each particle according to the first normalization weight of each particle, and forming a second particle set comprising a plurality of mutation particles with second poses, wherein the mutation step-size is inversely proportional to the first normalization weight; confirming a second normalization weight of each mutation particle in the second particle set; selecting a plurality of particles from the first particle set and the second particle set to form a resampling particle set; confirming an estimated position of the positioning object according to the pose and the normalization weight of each particle in the resampling particle set. According to the method, the diversity of the particles after resampling is increased, the error accumulation is effectively restrained, and the positioning accuracy is remarkably improved.

Description

technical field [0001] The invention relates to the technical field of indoor positioning and navigation, in particular to an indoor positioning method and a positioning system. Background technique [0002] In recent years, many research institutions at home and abroad have conducted a lot of research on indoor positioning and navigation technology. However, due to the complex and changeable indoor conditions, a general and generally accepted indoor positioning and navigation technology has not yet emerged, and it is currently in the testing stage. The indoor positioning and navigation technologies at home and abroad mainly include the following types: Wi-Fi technology, ultrasonic positioning technology, Bluetooth technology, infrared indoor positioning technology, radio frequency identification technology and new ultra-wideband technology. These technologies all require a large number of positioning nodes to be laid in advance, and the positioning accuracy is highly depend...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/08
CPCG01C21/08G01C21/206G01C21/20
Inventor 王新珩刘夫玉陈涛
Owner CHIGOO INTERACTIVE TECH
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