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A wearable IMU-based pedestrian trajectory tracking method and system between building floors

A building, wearable technology for indoor navigation to avoid complexity and redundancy

Active Publication Date: 2020-12-18
BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In view of this, the embodiment of the present invention expects to provide a wearable IMU-based pedestrian trajectory tracking method and system between building floors, which can provide high-precision trajectory navigation services in the horizontal and vertical directions to solve the problem of fire protection in complex environments. Key issues such as emergency rescue, emergency rescue in emergencies, self-positioning in unknown environments, and target location prediction

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  • A wearable IMU-based pedestrian trajectory tracking method and system between building floors
  • A wearable IMU-based pedestrian trajectory tracking method and system between building floors
  • A wearable IMU-based pedestrian trajectory tracking method and system between building floors

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Embodiment Construction

[0044] In order to make the technical solutions and advantages in the embodiments of the present invention clearer, the exemplary embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, and Not an exhaustive list of all embodiments. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0045] Such as figure 1 As shown, this embodiment proposes a method for tracking pedestrian tracks between building floors based on a wearable IMU, and the method specifically includes:

[0046] S101, performing zero offset correction on the IMU.

[0047] Specifically, before the pedestrian turns on the device to walk, there will be a 10s to 20s static stage. Using the zero-speed detection principle, find the data positio...

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Abstract

The embodiment of the invention provides a method for tracking a pedestrian trace between building floors based on a wearing type IMU (Inertial Measurement Unit). The method comprises the following steps: receiving real-time acquired data sent by the IMU; determining and updating a speed, a position, an attitude angle and a rotary matrix of a pedestrian according to the real-time acquired data; judging a tread of the pedestrian according to the real-time acquired data; acquiring movement distances and positions of the pedestrian in plane and height directions according to the tread respectively; acquiring the walking trace of the pedestrian according to the movement distances and positions of the pedestrian in the plane and height directions, and the speed and the position of the pedestrian respectively. The embodiment of the invention further provides a system for tracking the pedestrian trace between the building floors based on the wearing type IMU. The method and the system, provided by the embodiment of the invention, are applicable to key problems including firefighting emergency in a complicated environment, emergency rescue in sudden events, self-positioning in an unknown environment, self position which cannot be predicated by target seeking and the like.

Description

technical field [0001] The present invention relates to indoor navigation technology, in particular to a method and system for tracking pedestrian tracks between building floors based on a wearable IMU. Background technique [0002] In recent years, pedestrian navigation has become an active branch in the field of navigation and localization. In environments with limited satellite signals such as cities, indoors, and underground, the pedestrian navigation system can monitor the location information of people in real time, and effectively solve problems such as "where am I", "where should I be", and "how to get to the destination" , to provide navigation and positioning services for pedestrians quickly and accurately. Therefore, research on pedestrian navigation system is of great significance to fire rescue in complex environments, emergency rescue in emergencies, self-positioning and target finding in unknown environments, etc. [0003] In the outdoor environment, GPS can...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 金学波王彬彬彭世禹孔建磊苏婷立
Owner BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY