Indoor pedestrian turning recognition method based on magnetic-gyro heading gradient space assistance
A gradient space and identification method technology, applied in the field of indoor pedestrian navigation, can solve problems such as ignoring pedestrian motion characteristics, sensor errors, and difficulty in ensuring the accuracy of magnetic heading, achieving high engineering application and commercial value, strong practicability, and avoiding absolute Effect of Magnetic Heading Error
Active Publication Date: 2020-04-21
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
At present, indoor pedestrian navigation is a hot spot in current development, and heading is one of the key factors determining the accuracy of navigation. However, the current solutions for heading are mainly from the perspective of improving the accuracy of sensor errors, while ignoring the motion characteristics of pedestrians themselves. At the same time, although the magnetic heading can be used as one of the additional heading aids, due to the interference of many hard and soft magnetics such as metal buildings and elevators in the room, the accuracy of the absolute heading of the magnetic heading is difficult to guarantee.
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[0036] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.
[0037] The invention proposes to use the magnetic heading gradient and the gyro heading gradient to study the selection and construction of the gradient identification space under frequency conversion acquisition, to study the gradient mapping relationship in the straight line / turning state, to study the motion characteristics of pedestrians in the process of walking, and to fully identify pedestrians going straight and Turn mode.
[0038] Such as figure 1 As shown, it is a principle flowchart of the indoor pedestrian turning recognition method based on the magnetic-gyro heading gradient space assistance of the present invention, including the following steps:
[0039]...
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The invention discloses an indoor pedestrian turning identification method based on magnetic-gyroscopic course gradient spaces. According to the indoor pedestrian turning identification method, a gradient identification space is properly selected based on the fixed frequency selection so as to construct a magnetic course gradient identification database and a gyroscopic course gradient identification database, and the precise identification of the pedestrian turning is realized by making comparison on a change rule of a gyroscopic course gradient in the identification space and a mapping relation between the gyroscopic course gradient and the magnetic course gradient. The indoor pedestrian turning identification method disclosed by the invention is applicable to pedestrian navigation, and the motion modal (direct movement / turning) of a pedestrian can be effectively identified indoors and outdoors even by virtue of a low-precision sensor, so that the indoor pedestrian turning identification method has extremely high engineering application values and commercial values.
Description
technical field [0001] The invention relates to an indoor pedestrian turning identification method, in particular to an indoor pedestrian turning identification method based on magnetic-gyro heading gradient space assistance, and belongs to the technical field of indoor pedestrian navigation. Background technique [0002] The geomagnetic field is ubiquitous in every corner of the earth. Reasonable use of the geomagnetic field can effectively improve the positioning accuracy of pedestrian navigation. At present, indoor pedestrian navigation is a hot spot in current development, and heading is one of the key factors determining the accuracy of navigation. However, the current solutions for heading are mainly from the perspective of improving the accuracy of sensor errors, while ignoring the motion characteristics of pedestrians themselves. At the same time, although the magnetic heading can be used as one of the additional heading aids, due to the interference of many hard and...
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IPC IPC(8): G01C21/08G01C21/16G01C21/20
CPCG01C21/08G01C21/165G01C21/206
Inventor 黄欣熊智许建新张苗徐丽敏孔雪博赵宣懿万众李一博
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS