Indoor autonomous positioning method based on fractional domain pedestrian motion perception

Abstract

An indoor autonomous positioning method based on fractional domain pedestrian motion perception comprises the following steps: (1) carrying out inertial data acquisition, filtering smoothing processing and outputting on an inertial measurement unit worn on the waist and being calibrated and compensated for the multi-motion behavior of an indoor pedestrian; (2) dividing processed sensitive axis accelerometer output signals by using the periodic change of the processed sensitive axis accelerometer output signals in a time domain, and extracting various motion characteristics in the fractional domain in each divided period; (3) carrying out machine learned classification by using a simplest classifier according to obvious characteristic classification; (4) carrying out error correction basedon strapdown resolving by using improved heading correction, motion state transition and floor constraint auxiliary dead reckoning algorithms; and 5) reckoning the position information by the three key elements of heading estimation, step length estimation and step number counting during the motion of the pedestrian. The method provides a strong support for indoor positioning from both the convenience and the accuracy.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, in particular to an indoor autonomous positioning method based on pedestrian motion perception in the fractional domain. Background technique [0002] In recent years, with the participation and promotion of Internet giants such as Google, Facebook, and BAT, LBS (Location Based Services) has achieved unprecedented market scale and development prospects. According to the latest report released by the Swedish market research company BergInsight, the global LBS market size will increase from 10.3 billion euros in 2014 to 24.8 billion euros in 2020 at a compound annual growth rate of 22.5%. The "2014-2018 China LBS Industry In-Depth Research and Prospect Forecast Report" released by Shangpu Consulting predicts that the market size of my country's LBS industry will exceed 110 billion yuan in 2018. Among the 8 vertical fields of its LBS market division, family and personnel position...

AI Technical Summary

Problems solved by technology

The most important part of this is to identify and perceive the specific behavior patterns of pedestrians: some scholars propose to process and identify the inertial signals of moving pedestrians in the time domain itself, but the training samples required for this are very limited. Large, feature classification overlap is high, efficiency is low, classifier design is relatively complex; at the same time, some experts transform it to the frequency domain for classification and recognition, but the huge amount of calculation and the high requirements for the hardware required for the training process are both It is a bottleneck in this direction; therefore, it is not difficult to imagine that later there was the idea of ​​combining the above two methods for classification, but although the process retains the advantages of the two, at the same time the shortcomings of both sides have been accumulated and magnified , the redundancy of information also increases suddenly, making the whole system appear bulky and clumsy

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