A geomagnetic positioning method based on road magnetic field characteristics
A positioning method and geomagnetic technology, applied in ground navigation, navigation calculation tools, etc., can solve the problems of poor measurement accuracy of magnetic sensors that cannot meet indoor requirements, different geomagnetic reference map update methods, and different search and positioning methods due to system cost requirements, and achieve increased Real-time image scaling, ensuring reliability, and improving performance
Active Publication Date: 2019-12-27
北京麦钉艾特科技有限公司
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[0008] In view of the above analysis, the present invention aims to provide a geomagnetic positioning method based on the characteristics of the road magnetic field, which solves the problem of indoor application caused by different geomagnetic reference map update methods, search and positioning methods and different system cost requirements due to the different movement forms and laws of the carrier. The measurement accuracy of the inertial navigation and magnetic sensors is poor and it is difficult to meet the indoor requirements
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[0049] 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 principles of the present invention.
[0050] A specific embodiment of the present invention discloses a geomagnetic positioning method based on road magnetic field characteristics.
[0051] The flow chart of the geomagnetic positioning method is shown as figure 1 shown. Include the following steps:
[0052] Step S1, establishing a reference map database of road magnetic field characteristics. The initial data of the reference map database comes from the actual measurement of the on-site road in advance. The actual measured data is divided into six parts:
[0053] 1) Point spacing of reference map data: that is, the actual distance between two adjacent points;
[0054] 2) Number of ro...
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The invention relates to a road magnetic field characteristic based geomagnetism positioning method. The method includes: establishing geomagnetism reference map database on the basis of indoor magnetic field conditions, acquiring geomagnetism data collected by a geomagnetism positioning terminal in actual motion to establish a geomagnetism real-time map, subjecting the geomagnetism real-time mapto variable-scale zooming, performing position searching and geomagnetism correlation matching in a given geomagnetism reference map, performing correlation judgment on a matching result, and selecting an optimal result to output. Therefore, the geomagnetism positioning performance is effectively improved, geomagnetism positioning reliability is guaranteed, the geomagnetism reference map is updated automatically and continuously, and cost increasing and troubles of artificial onsite retesting are avoided.
Description
technical field [0001] The invention relates to the technical field of positioning, in particular to a geomagnetic positioning method based on road magnetic field characteristics. 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 i...
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IPC IPC(8): G01C21/08G01C21/20
Inventor 王刚刚申志飞李素敏
Owner 北京麦钉艾特科技有限公司