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Multimodal fusion based indoor self-positioning method and device

An autonomous positioning, multi-modal technology, applied in the field of context awareness and wireless positioning, it can solve problems such as heading error and step error, and achieve the effect of improving accuracy, eliminating accumulated errors, and precise positioning and navigation.

Active Publication Date: 2017-03-15
THE 22ND RES INST OF CHINA ELECTRONICS TECH GROUP CORP +1
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

However, inertial navigation uses the acceleration information to continuously integrate to obtain the speed and step size. If the acceleration information contains noise, it will produce continuous accumulation of step size errors after continuous integration.
In addition, inertial navigation uses gyroscope information to continuously integrate to obtain the heading. If the gyroscope information contains noise, it will produce continuously accumulated heading errors after continuous integration.

Method used

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  • Multimodal fusion based indoor self-positioning method and device
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  • Multimodal fusion based indoor self-positioning method and device

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Embodiment 1

[0068] Embodiment 1. This embodiment discloses an indoor autonomous positioning method based on multi-modal fusion. The method includes the following steps:

[0069] (1) User trajectory inference

[0070] (11) User initial location setting: based on the traditional outdoor map, the user location is displayed, combined with GPS to automatically initialize the user location and direction, and seamless switching between indoors and outdoors can be realized;

[0071] (12) Position estimation based on wearable inertial sensors: During walking, the user alternately touches the ground to support the center of gravity of the body, and uses the accelerometer to detect the moment when the foot touches the ground to calibrate the user's travel speed, and the double integral of the horizontal acceleration combined with zero-speed detection calculates the user's daily The step size of one step, the direction change of each step can be calculated through the gyroscope, and the position coor...

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Abstract

The invention discloses a multimodal fusion based indoor self-positioning method. The method includes the following steps of (1) user track deduction and (2) user track calibration. The invention further discloses a multimodal fusion based indoor self-positioning device. The multimodal fusion based indoor self-positioning method and device has the advantages that on the basis of geomagnetism track matching and indoor feature points, track deduction results are calibrated, accumulated errors are eliminated, and indoor self-positioning precision is improved effectively. Therefore, accurate positioning and navigation of users can be realized under the condition of no dependence on external environment deployment and no need of preliminary training or in case of emergency.

Description

technical field [0001] The present invention relates to the technical fields of wireless positioning and context awareness, and in particular to an indoor autonomous positioning method and device based on multimodal fusion. Background technique [0002] At around 23:30 on August 12, 2015, an explosion occurred at a container terminal at the intersection of Fifth Street and Yuejin Road in Binhai New Area, Tianjin. A total of 165 people were killed in the "8.12" explosion at Tianjin Port, and 8 people lost contact. Among them, there were 24 public security firefighters, 75 Tianjin Port firefighters, 11 civilian police, and 55 other personnel. [0003] At 3:4 in the morning on January 1, 2013, a fire broke out at Hangzhou Youcheng Machinery Co., Ltd., and three firefighters lost their precious lives. [0004] In the early morning of October 11, 2013, a fire broke out in the Xilongduo shopping mall at the east exit of Pingguoyuan South Road, Shijingshan District, Beijing. Liu ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 孙中森罗海勇王曲唐怀玉赵方邵文华叶朗朗
Owner THE 22ND RES INST OF CHINA ELECTRONICS TECH GROUP CORP
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