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Zero-speed correcting and locating method based on difference statistics

A positioning method and zero-speed correction technology, applied in the field of indoor positioning and signal processing, can solve problems such as lack of gait characteristics, achieve the effect of improving positioning accuracy, wide application range, and good development prospects

Inactive Publication Date: 2018-09-11
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0023] But in practical applications, many location-based service robots, such as sweeping robots, food delivery cars, etc., do not have gait characteristics, and cannot be positioned by traditional PDR algorithm to complete step detection

Method used

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  • Zero-speed correcting and locating method based on difference statistics
  • Zero-speed correcting and locating method based on difference statistics
  • Zero-speed correcting and locating method based on difference statistics

Examples

Experimental program
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Embodiment 1

[0058] At present, the traditional ZUPT method widely used in PDR is to use the intersection of acceleration norm and gravity to complete step detection, but this method relies heavily on the motion mode and has a limited application range. Therefore, the embodiment of the present invention proposes a position-based service robot without gait characteristics, such as a sweeping robot, that does not depend on the motion mode by performing differential statistical analysis on the characteristics of the acceleration measurement in the motion state and the static state. ZUPT positioning method is also applicable to dining trolleys.

[0059] A zero-speed correction positioning method based on difference statistics, see Figure 2-Figure 3 , The zero-speed correction positioning method includes the following steps:

[0060] 101: Perform baseline offset removal and filter noise reduction processing on the original acceleration measurement signal, and obtain the processed acceleration measu...

Embodiment 2

[0067] The following combines specific examples, calculation formulas, Figure 4-Figure 5 The solution in Example 1 is further introduced, as detailed in the following description:

[0068] 1. The steps of the zero-speed correction positioning algorithm based on difference statistics are as follows:

[0069] Baseline correction on the original acceleration signal: After removing the average value of the acceleration signal during the stationary period, subtract the average value from all acceleration measurements to obtain the baseline corrected signal. The processing process is as follows:

[0070]

[0071]

[0072] among them, Is the mean value of acceleration at rest, acc k Is the acceleration value with index k, K is the total number of stationary acceleration signals, Is the nth acceleration signal of baseline correction, acc n Is the acceleration value with index n, Is the average value of acceleration in a stationary state, N is the total number of acceleration signals, i...

Embodiment 3

[0092] Below in conjunction with Table 1 to Table 2, Figure 4-Figure 5 , To verify the feasibility of the schemes in Examples 1 and 2, see the following description for details:

[0093] In order to verify the effect of this method, the steps in the above Examples 1 and 2 were used to perform positioning analysis on three sets of experiments with displacement lengths of 12.25m, 4m, 4m and durations of 64 seconds, 54 seconds, and 65 seconds, respectively. In the positioning process, the integration algorithm used in the embodiment of the present invention is a trapezoidal integration algorithm.

[0094] Qualitative perspective, Figure 4 Shows a static state (see Figure 4 (a)) and the state of motion (see Figure 4 (b)) The acceleration difference value distribution range is obviously different. The acceleration difference value in the static state is small and the fluctuation range is small, while the acceleration difference value in the motion state is larger and the fluctuation...

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Abstract

The invention discloses a zero-speed correcting and locating method based on difference statistics. The zero-speed correcting and locating method comprises the following steps: performing base line shift elimination and smoothing and noise reduction treatment on original acceleration measurement signals to obtain treated acceleration measurement signals; respectively performing difference calculation on static-state acceleration magnitudes and motion-state acceleration magnitudes in the treated acceleration measurement signals and performing statistic analysis on a difference result to obtaina difference threshold value capable of distinguishing a dynamic state and a static state; comparing the acceleration measurement difference result with the difference threshold valve and utilizing anacceleration sampling point as a zero-speed correcting point to perform zero-speed correction if the difference result is smaller than the difference threshold value; performing trapezoid quadratic integral on the zero-speed corrected acceleration to obtain a final locating result. The zero-speed correcting and locating method disclosed by the invention can find the zero-speed correcting point more accurately, so that inertial errors are effectively controlled; thus, the zero-speed correcting and locating method can be widely applied to varieties of service based on positions.

Description

Technical field [0001] The invention relates to the field of signal processing and indoor positioning, and in particular to a zero-speed correction positioning method based on differential statistics. Background technique [0002] Indoor positioning, as one of the most challenging technologies based on location-based services (LBS), has attracted great attention in the past decade. Indoor positioning applications are almost distributed in all aspects of our daily lives, such as navigation, medical care, emergency assistance, monitoring, nearby shopping, etc. However, compared with outdoor positioning with global navigation satellite system (GNSS) as the dominant technology, indoor positioning encounters a series of challenges due to the more complicated indoor environment, such as severe multipath effects, non-line-of-sight transmission, and severe signal attenuation And noise interference. Therefore, there is still no widely used indoor positioning solution with high accuracy ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 徐岩于航张家赫
Owner TIANJIN UNIV
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