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Positioning method and system based on visual aid

A positioning method and visual technology, applied in mapping and navigation, navigation and navigation through velocity/acceleration measurement, etc., can solve the problems of large error and reduced PDR positioning accuracy, and achieve the effect of heading correction and positioning result improvement.

Active Publication Date: 2022-03-01
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the drift in the inertial sensor data, this error will become larger and larger over time, causing the accuracy of PDR positioning to decrease over time

Method used

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  • Positioning method and system based on visual aid
  • Positioning method and system based on visual aid
  • Positioning method and system based on visual aid

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Embodiment Construction

[0132] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0133] In describing the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device Or elements ...

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Abstract

The invention provides a positioning method based on visual aids, comprising the following steps: data acquisition and judgment step: acquiring inertial sensor data from an inertial sensor, and judging whether a gait movement occurs according to the inertial sensor data; step length estimation step: when judging step When the dynamic action occurs, the step length is estimated according to the inertial sensor data; the yaw angle calculation step: obtain the visual data from the visual gyroscope, and perform Kalman filtering on the visual data and the inertial sensor data to obtain the yaw angle; the position calculation step: according to The step size and yaw angle are calculated to obtain position information. Correspondingly, the present invention also provides a positioning system based on visual aids. The present invention not only performs fusion on the pedestrian heading, but also performs a large number of off-line measurements on the step size estimation to find the best step size factor and provide a reliable guarantee for the indoor positioning of pedestrians.

Description

technical field [0001] The present invention relates to indoor positioning technology, in particular to a visual aid-based positioning method and system. Background technique [0002] Location-based services have important applications in the military, first aid, and commercial fields. However, GNSS (Global Navigation Satellite System), which is dominant outdoors, cannot provide positioning services indoors. The increasing popularity of smart phones is undoubtedly the main carrier of location-based services in personal applications, and the rich environmental perception capabilities of smart phones make them capable of locating users indoors. [0003] With the popularity of cheap IMU sensors based on Micro-Electro-Mechanical Systems (MEMS), pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR) has become a research hotspot in the field of indoor positioning in the past 10 years. The traditional PDR positioning method is to gradually and iteratively obtain the indoor p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 裴凌刘坤邹丹平郁文贤
Owner SHANGHAI JIAOTONG UNIV