Pedestrian positioning and trajectory tracking method and system

Abstract

The invention discloses a pedestrian positioning and trajectory tracking method and a pedestrian positioning and trajectory tracking system. An implementing mode of the method comprises the following steps: receiving acceleration information, angular speed information and magnetometer information of a pedestrian; performing filtering and threshold value segmentation on the acceleration information and the angular speed information to obtain speed state information; when the speed is non-zero, obtaining attitude information by utilizing the angular speed information; when the speed is zero, modifying the angular speed information to obtain the attitude information by utilizing the angular speed information; performing elliptical correcting on a magnetometer, and performing inclination angle compensating on the magnetometer by utilizing the attitude information to obtain a magnetic course angle; fusing the magnetic course angle and a course angle in the attitude information to obtain a fused course angle; combining the attitude information and the fused course angle, and integrating the acceleration to obtain the speed information; after the speed information is subjected to zero speed correcting, obtaining the displacement in the horizontal direction and the height in the vertical direction, and performing pedestrian positioning and trajectory tracking through the displacement and the height. The pedestrian positioning and trajectory tracking method and the pedestrian positioning and trajectory tracking system can navigate for a long time, and are high in adaptability and wide in application range.

Description

technical field [0001] The invention belongs to the field of inertial navigation, and more specifically, relates to a pedestrian positioning and trajectory tracking method and system. Background technique [0002] With the rapid development of science and technology and the rapid advancement of urbanization, positioning technology has become more and more important in people's lives, and people's demand for positioning products, functions and services has increased, thus giving birth to a huge market. Traditional positioning technologies are basically based on GPS and wireless networks (Wifi, ZigBee, UWB, etc.), but this positioning method cannot be used indoors without GPS signals or in places without wireless networks. Therefore, the pedestrian positioning and trajectory tracking technology based on inertial navigation sensors is gradually emerging. Its biggest feature is that it can realize autonomous navigation and real-time positioning in known or unknown environments w...

AI Technical Summary

Problems solved by technology

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a pedestrian positioning and trajectory tracking method and system, thereby solving the technical problems of the prior art that cannot navigate for a long time, has poor adaptability and narrow application range

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