Indoor localization method for precision improvement based on pedestrian dead reckoning
A technology of dead reckoning and indoor positioning, which is applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve problems such as multipath propagation, signal reflection, refraction, diffraction, etc., achieve high precision, improve precision, and reduce errors small effect
Inactive Publication Date: 2017-05-24
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology
However, the indoor environment is very complex, and the signal propagation will be blocked by obstacles such as walls, partitions, and ceilings, causing reflection, refraction, and diffraction of the signal. The transmitted signal passes through multiple paths and arrives at the receiving end at different times, resulting in multipath Propagation phenomena and non-line-of-sight effects make indoor positioning extremely challenging
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[0040] The invention will be described in further detail below in conjunction with the accompanying drawings.
[0041] The symbols of the present invention and their meanings include:
[0042]
[0043]
[0044] In the gait detection stage, first use the built-in sensor of the mobile phone to measure the real-time acceleration α of the x, y, and z axes x , α y , α z Modulo the acceleration: Calculate the threshold from the modulo value: where Δt kIt is the time taken for the k-th value interval, and the threshold is used to judge whether to take a step. The rules are: 1. The total acceleration modulus crosses the threshold in the form of an increasing function; The time interval between must be less than 2·Δt k .
[0045] In the step size calculation stage, first calculate the average of the absolute value of the z-axis acceleration at the k-th value interval The difference between the maximum and minimum values of z-axis acceleration and the kth value interv...
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The invention discloses an indoor localization method for precision improvement based on pedestrian dead reckoning. The method comprises tread detection, step length dead reckoning and direction dead reckoning. In the tread detection phase, the periodicity of the change of accelerated speed module value when a person walks is utilized, the accelerated speed numerical values of the x, y and z shafts of a mobile phone are obtained through an accelerated speed sensor and modules are solved, then a dynamic threshold value is subjected to dead reckoning, and whether a step is walked or not is judged according to the threshold value. In the step length dead reckoning phase, a non-linear relationship between the step length and the accelerated speed of the z shaft of the mobile phone is utilized, a model is established, and the distance walked by each step is calculated. In the direction dead reckoning phase, a relationship between the accelerated speed numerical value and the a direction vector and the projection relationships among different coordinate systems are utilized, the direction changes on the earth coordinate systems can be obtained, and thus the direction is determined. Finally a PDR (Pedestrian dead reckoning) is utilized to calculate the position of the last step, and thus the location is conducted. The method has the advantages of being high in precision and tiny in error. Direction dead reckoning can avoid the influence of magnetic filed disturbance on a compass, and the precision is effectively improved.
Description
technical field [0001] The invention relates to an indoor positioning and method based on improved accuracy of pedestrian dead reckoning, and belongs to the technical field of indoor positioning. Background technique [0002] Since the emergence of positioning technology represented by GPS, its high efficiency, convenience, speed and accuracy have brought about great changes in people's lives and led to the rapid development of a number of applications and services. However, due to the limitations of technical principles, traditional positioning technology Therefore, the current indoor environment urgently needs an efficient, convenient and accurate positioning technology to fill the gap. Accurate indoor positioning is of great importance for public safety, commercial and military applications. However, the indoor environment is very complex, and the signal propagation will be blocked by obstacles such as walls, partitions, and ceilings, causing reflection, refraction, and ...
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IPC IPC(8): G01C21/18G01C21/20
Inventor 王锐王玉峰
Owner NANJING UNIV OF POSTS & TELECOMM