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Indoor wireless terminal positioning accuracy ensuring and trajectory correcting method

A terminal positioning and correction method technology, which is applied in the field of indoor positioning and personnel navigation, can solve the problems that the accuracy of positioning results cannot be guaranteed, and achieve the effects of fast calculation speed, cost saving and high accuracy

Active Publication Date: 2017-03-08
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, in a positioning system with an error of 1m, when the MT is located near critical areas such as walls, doors, and stairs, the coordinates obtained by the ordinary positioning system may be located in the wrong area, and the accuracy of the positioning results cannot be guaranteed.

Method used

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  • Indoor wireless terminal positioning accuracy ensuring and trajectory correcting method
  • Indoor wireless terminal positioning accuracy ensuring and trajectory correcting method
  • Indoor wireless terminal positioning accuracy ensuring and trajectory correcting method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0169] Such as Figure 6 As shown, the scene describes the MT walking along the wall. A is the initial point, and F is the end point after filtering. The threshold of the wall is 5, and the threshold of the door is 2 (since this example adopts the trajectory correction method based on the intersection of line segments, the walls and doors are represented by line segments in the figure).

[0170] according to Figure 7 The flow chart of the method for correcting the trajectory of the center line segment intersection can be divided into the following steps:

[0171] Step 1: Select point A as the starting point, and the next point after low-pass filtering as point B to be corrected.

[0172] Step 2: Create a square with the midpoint of the connecting line A and B as the center point, round up the length of AB as the side length, and make one side of the square parallel to the X axis.

[0173] Step 3: Determine the number of intersections between the connecting line A and B an...

Embodiment 2

[0178] another scene like Figure 9As shown, the MT walks from top to bottom, the black solid line is the wall, the small door between the two five-pointed stars, the longer gray line segment is the gate, the actual trajectory is the triangle connection, and the filtered positioning trajectory is the plus sign connection , after trajectory correction is a star connection. Set the threshold of the door to 2, and the threshold of the wall to 5 (because this example uses a grid-based symbol method, the walls and doors are represented by areas in the figure).

[0179] First, preprocess the indoor map according to 3.1, such as Figure 10 , and then plan a uniform grid, and establish a grid database such as Figure 11 . On this basis, the trajectory correction method based on grid symbols is used to correct the positioning points, and the accurate indoor motion trajectory of MT is obtained.

[0180] according to Figure 12 As shown in the flow chart, the specific steps of the g...

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Abstract

The invention provides an indoor wireless terminal positioning accuracy ensuring and trajectory correcting method; firstly, initial positioning data are allowed to pass through a low-pass filter, so as to reduce the problem of relatively large trajectory fluctuation caused by positioning errors, and then based on line segment intersections or based on a grid symbol trajectory correcting method, positioning results located in an error region are corrected. Based on indoor structure map information, a related judging mechanism is combined for correcting positioning results of indoor walls, doors, windows and the like, so as to obtain an accurate positioning trajectory, and better serve the indoor positioning and navigation.

Description

technical field [0001] The invention relates to the fields of indoor positioning and personnel navigation, in particular to a wireless terminal positioning method. Background technique [0002] In modern urban life, people's activities and living areas are mainly concentrated in the indoor environment. Statistics show that nearly 80% of wireless communications occur in indoor places. This phenomenon has led to the emergence of various indoor services based on wireless signals, and indoor location service is one of them. [0003] The complex and changeable indoor environment has led to an increasingly urgent demand for indoor positioning and navigation. With the successful development and excellent performance of GPS (Global Positioning System) in the field of outdoor positioning, the demand for indoor positioning has increased. Users expect to provide seamless positioning services in all environments, but GPS outdoor positioning However, the solution cannot be directly use...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 贺宏锟张阳时雅兵雷阳
Owner NORTHWESTERN POLYTECHNICAL UNIV
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