Sensor device and magnetic map generating method for indoor navigation

Abstract

The invention discloses a sensor device and a magnetic map generating method for indoor navigation. The sensor device comprises a regular hexahedron circuit board and magnetic sensors arranged on six surfaces of the regular hexahedron circuit board; the magnetic map generating method comprises the following steps: acquiring air pressure difference delta P of a current floor relative to the ground and an interior architecture design and construction plan; taking fork route junctions on walk paths as breaking points, and carrying out straight-line segment discrete segmented processing on all the walk paths in the interior plan to obtain discrete straight-line segment segmented paths; carrying out unique address numbering on each discrete straight-line segment segmented path and the corresponding fork route junction, and walking on each discrete straight-line segment segmented path at a constant speed; acquiring a magnetic induction intensity average value and magnetic field gradient data of each point in the discrete straight-line segment segmented path, wherein the magnetic induction intensity average values and the magnetic field gradient data form magnetic map data; storing the unique address number of each discrete straight-line segment segmented path and the corresponding magnetic map data in pairs, thereby generating a magnetic map for the indoor navigation. The magnetic map generated by the magnetic map generating method disclosed by the invention is accurate in path and high in locating precision.

Description

technical field [0001] The invention belongs to the field of indoor navigation based on geomagnetic distribution, in particular to a method for generating a magnetic map for indoor navigation. Background technique [0002] With the rapid development of the economy and society, the indoor space for people's activities has become increasingly large and complex. In indoor places such as large underground parking lots, shopping malls, and large logistics warehouses, determine the position of yourself or the AGV, and navigate along a specific path to A certain indoor destination seems powerless, especially for the blind, and indoor navigation is more difficult when they lack visual perception ability, so an indoor positioning and navigation technology is urgently needed. [0003] Although the demand for indoor navigation is strong, traditional navigation technology cannot meet the requirements of indoor positioning due to various technical limitations. For example, when GPS tech...

AI Technical Summary

Problems solved by technology

There are several deficiencies in the existing magnetic field map: first, the magnetic field is a gradient field, and only measuring the magnetic field strength at each point in the indoor path does not make full use of the magnetic field distribution information, which is likely to be limited by the measurement accuracy of the sensor and the indoor geomagnetic field distribution change The difference is too small to cause measurement "blind areas"; second, the path layout between different floors of large buildings is similar, and the magnetic field measurement can only form a flat two-dimensional map of the horizontal plane, lacking the third-dimensional coordinate information of height; third, the indoor walking path Complicated, when building a magnetic map, it is impossible to measure and record all possible complete walking paths in the room one by one, and there is also a lack of specific operation methods to scientifically and automatically segment each complete path in the indoor plan, resulting in the collection of various data during map drawing Intersection overlap measurement between road segments

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