Indoor positioning method based on PDR and geomagnetism fusion

A technology of geomagnetic and modeling methods, applied in the field of positioning, can solve problems such as high algorithm complexity, fuzzy solution of positioning, and inaccurate estimation of pedestrian step length

Inactive Publication Date: 2017-09-19
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

[0003] For the indoor environment, because the magnetometer is affected by the indoor geomagnetic anomaly field, the magnetic field generated by other indoor equipment, and the equivalence of the geomagnetic field, the positioning area may appear fuzzy.
Because pure geomagnetic positioning cannot give a rough position at the current moment, it can only use the position at

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  • Indoor positioning method based on PDR and geomagnetism fusion
  • Indoor positioning method based on PDR and geomagnetism fusion
  • Indoor positioning method based on PDR and geomagnetism fusion

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Embodiment Construction

[0013] Taking the indoor positioning of pedestrians holding smart phones as an example, the present invention will be further described in detail, so as to facilitate a full understanding of the present invention.

[0014] Such as figure 1 As shown, the block diagram of the indoor positioning method provided in this embodiment is described, which mainly includes the following steps:

[0015] Step 1: Use the built-in three-axis magnetometer of the mobile phone to measure and store the geomagnetic data in the room. Draw an indoor plane map, pre-set the indoor geomagnetic data collection route, and mark the position coordinates of the geomagnetic data points to be collected (X N , Y N ), use the built-in three-axis magnetometer of the mobile phone to collect the coordinate points of the position to be measured according to the preset route (X N , Y N ) geomagnetic data (M xN , Y yN ,M zN ), the collected data is stored by the mobile phone.

[0016] Step 2: Establish an in...

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Abstract

The invention discloses an indoor positioning method based on PDR and geomagnetism fusion. The method includes the following steps: establishing an indoor global geomagnetism reference image by indoor geomagnetism data acquired by a magnetometer; when a carrier moves in an indoor environment, respectively measuring the accelerated speed and the angular speed of the carrier and the absolute force of the position of the carrier through an acceleration sensor, a gyroscope and a magnetometer on the carrier, and calculating the heading and the step length of the carrier by a PDR algorithm; searching a local geomagnetism reference image from an indoor global geomagnetism reference image according to the position of the carrier at the previous time, the heading and the step length; and matching a magnetic vector obtained by real-time measurement of a magnetic field sensor on the carrier with the local geomagnetism reference image through a geomagnetism matching algorithm to obtain the position coordinates of the carrier to implement positioning. By the indoor positioning method based on PDR and geomagnetism fusion, shortcomings of pure geomagnetism positioning and PDR positioning are overcome, and the positioning precision is superior to 1 m; and therefore, the indoor positioning method based on PDR and geomagnetism fusion can be used for high-precision indoor positioning places.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to an indoor positioning method based on PDR pedestrian dead reckoning and geomagnetic fusion. Background technique [0002] As the "last mile" of navigation and positioning, indoor positioning has always been a worldwide problem. How to effectively solve it has become the core problem of navigation and location services. Currently disclosed indoor positioning technologies mainly include: WIFI positioning, inertial navigation positioning, Bluetooth positioning, RFID positioning, ultra-wideband (UWB) positioning, LED visible light positioning, geomagnetic positioning, ZigBee positioning, infrared positioning, ultrasonic positioning, computer vision positioning, etc. The traditional inertial navigation system needs to convert the measured acceleration into displacement through quadratic integration, and its error increases with the square of time. Even if the target does not move,...

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Application Information

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IPC IPC(8): G01C21/20G01C21/18
CPCG01C21/18G01C21/206
Inventor 蔡超波蔡成林古天龙于鹏韦照川王亚娜胡文灿
Owner GUILIN UNIV OF ELECTRONIC TECH
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