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A Geomagnetic Positioning Method Suitable for Indoor Free-moving Carriers

A positioning method and motion carrier technology, applied in ground navigation, navigation calculation tools, etc., can solve the problems of system cost requirements, measurement accuracy and reliability, difficult to meet indoor requirements, different search and positioning methods, etc., to improve performance and ensure reliability. Effect

Active Publication Date: 2019-11-08
北京麦钉艾特科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In view of the above analysis, the present invention aims to provide a geomagnetic positioning method suitable for indoor free-moving carriers, to solve the problem of inertial navigation and magnetic positioning in indoor applications caused by different search and positioning methods and different system cost requirements due to different motion forms and laws of motion of carriers. The measurement accuracy and reliability of sensors are difficult to meet the indoor requirements

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  • A Geomagnetic Positioning Method Suitable for Indoor Free-moving Carriers

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Embodiment Construction

[0036] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principle of the present invention.

[0037] A specific embodiment of the present invention discloses a geomagnetic positioning method suitable for indoor freely moving carriers.

[0038] The flow chart of the geomagnetic positioning method is shown as figure 1 shown. Include the following steps:

[0039] Step S1, establishing a regional geomagnetic reference map database

[0040] The data of the regional reference map database comes from the actual measurement of the field area in advance, and the reference magnetic field characteristic matrix of the points in the region is stored with the grid Grid as the standard interval, and the geomagnetic reference map is constructed. Grid=0.1m in...

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Abstract

The invention relates to a terrestrial magnetic positioning method suitable for an indoor free motion carrier. Search positioning is conducted under the condition of free motion of an indoor positioning terminal; a variable-scale search method is more conducted on a measurement trajectory, and the terrestrial magnetic positioning performance is effectively improved; after the reliability evaluation of a terrestrial magnetic matching result is increased, wrong matching results can be effectively removed, and the reliability of a positioning system is ensured.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to a geomagnetic positioning method suitable for indoor free-moving carriers. Background technique [0002] The geomagnetic field and the magnetic field generated by artificial buildings are collectively referred to as the environmental magnetic field. This part of the environmental magnetic field is relatively stable with time, and its strength (size) and direction change with the change of space position. It provides a natural coordinate system for the measurement of position information. The measurement of the position of the moving body can be realized by utilizing the characteristics of the environmental magnetic field being correlated and changing with the position. [0003] Geomagnetic positioning technology is an effective auxiliary positioning method. Its basic principle is to pre-store the geomagnetic reference map (reference map) of the aircraft's working area in th...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/08G01C21/20
Inventor 李素敏王刚刚申志飞
Owner 北京麦钉艾特科技有限公司