Method for correcting pedestrian dead reckoning course angle based on magnetic field correction

Abstract

The invention discloses a method for correcting a pedestrian dead reckoning course angle based on magnetic field correction. The method can realize accurate positioning and navigation of an indoor positioning terminal, and comprises the following steps: 1) dividing the test areas according to the magnetic field distortion condition in the test environment, and then setting the magnetic field correction points in each divided area; 2) using the terminal to collect an original measured value of the course angle at the magnetic field correction point in step 1), and then taking the original measured value of the course angle as a magnetic field correction coefficient; 3) using a least square method to train the magnetic field correction coefficient corresponding to each magnetic field correction point obtained in step 2) to obtain the magnetic field correction coefficient after training; and 4) determining the area of a user holding the terminal in a traveling process with real time, andcorrecting the original measured value of the course angle acquired by the terminal by using the trained magnetic field correction coefficient corresponding to the area, and the correcting the pedestrian dead reckoning course angle based on the magnetic field correction.

Description

technical field [0001] The invention belongs to the field of sensors, indoor positioning and navigation, and relates to a correction method for pedestrian dead reckoning heading angle based on magnetic field correction. Background technique [0002] The maturity of sensor and intelligent terminal technology has led to the rapid development of indoor navigation methods based on pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR). The advantage of the PDR navigation method is that the user can achieve positioning only by using a smart terminal, which eliminates the limitations of additional hardware deployment and client-server communication mode. The PDR navigation method uses the built-in magnetometer and accelerometer of the terminal to obtain the user's traveling direction, that is, the heading angle and the number of walking steps. Assuming that the user's step length is constant, the x k+1 =x k +d k ×cosφ k ,y k+1 =y k +d k · sinφ k to estimate the user's ...

AI Technical Summary

Problems solved by technology

In the existing technology, the built-in magnetometer of the terminal is generally used directly or supplemented by other sensors such as a gyroscope to obtain the heading angle, but this method does not consider the deviation caused by the magnetic field distortion of the indoor environment on the magnetometer reading, resulting in inaccurate heading angles. question

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