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Method and device for positioning person in pipe gallery

A technology for personnel positioning and pipe gallery, which is applied in positioning, measuring devices, instruments, etc., and can solve the problems of large environmental impact of positioning technology and large accumulation of positioning technology errors.

Active Publication Date: 2019-01-01
湖南云箭格纳微信息科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem that the radio-based positioning technology is greatly affected by the environment and the error accumulation of the inertial navigation-based positioning technology is relatively large, the present invention proposes a personnel positioning method and device in a utility gallery

Method used

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  • Method and device for positioning person in pipe gallery
  • Method and device for positioning person in pipe gallery
  • Method and device for positioning person in pipe gallery

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0148] Example 1: Use the received signal of the Bluetooth beacon to correct the particle weight

[0149] In the present invention, the weight of each particle can be corrected by using the received signal of the Bluetooth beacon.

[0150] In described step (P1-3), also include:

[0151] Judging whether the first condition is met, the first condition is the existence of rss k,n , making set up,

[0152] If it is judged that j=2 is established and the first condition is not satisfied, step (3) is executed;

[0153] If it is judged that j=2 is established and the first condition is satisfied, the coordinates of each particle in the particle set in the map coordinate system are cleared, and the coordinates of the nth Bluetooth beacon in the map coordinate system are used to set the coordinates of each particle in the particle set on the map The coordinates in the coordinate system are initialized, and the heading angle of each particle in the map coordinate system remains un...

Embodiment 2

[0172] Example 2: Use the map to correct particle weights

[0173] The difference between this embodiment 2 and embodiment 1 is that if the accuracy requirement is not high, only two Bluetooth beacons can be set, and after the first coordinate transformation formula is calculated by using the two Bluetooth beacons, the Bluetooth correction can be prohibited weights, only the particle weights are corrected with the map.

[0174] Step (P1-1): Load the binarized raster map of the positioning environment.

[0175] In occasions where the accuracy is not high, you can only set two Bluetooth beacons, and then disable Bluetooth correction weights, and only use map corrections, then only set two Bluetooth beacons. Therefore let beacon_enable=false.

[0176] According to the map constraint correction method, the particle weight is updated, and then the particle set is resampled, and (8) is executed;

[0177] In the present invention, the flag bit beacon_enable can be set, if beacon_e...

Embodiment 3

[0191] Example 3: Use the map to correct particle weights

[0192] The difference between the third embodiment and the first embodiment is that the received signal of the Bluetooth beacon and the map can be combined to modify the weight of the particles at the same time, that is, the method of the first embodiment and the second embodiment can be used in combination. In step (3), if it is judged that the second condition is met, then according to the rss k,n calculate t k The weight of each particle at all times; after step (3), execute step (P1), use the map to correct the weight of the particle, that is, correct the weight of the particle by judging whether the particle passes through the wall, if all particles pass through the wall, use the step (B1)-(B5) re-initialize the coordinates of each particle.

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Abstract

The invention provides a method and a device for positioning a person in a pipe gallery. According to the invention, the inner wall of the pipe gallery is provided with N Bluetooth beacons, wherein Nis no less than 2. The method for positioning the person in the pipe gallery comprises the following steps: step (1), determining a first coordinate transformation formula by utilizing coordinates ofany two Bluetooth beacons and corresponding coordinates of the person in an inertial coordinate system; step (2), calculating the coordinates of the person in a map coordinate system, and initializingcoordinates and heading angles of particles in a particle set; step (3), updating the coordinates and heading angles of the particles by utilizing the walking step size of the person and the angularincrement of the heading angles, and calculating the weight of each particle; and step (4), calculating an estimated value of the coordinates of the person in the map coordinate system by utilizing the coordinates and weights of the particles. The method and the device provided by the invention greatly save cost through sparse arrangement of the Bluetooth beacons, are convenient to implement, havestrong applicability, and solve the problem of long-time high-precision real-time positioning of the person in an urban pipe gallery through combination of inertial navigation, Bluetooth and map information.

Description

technical field [0001] The invention relates to a positioning method and device, in particular to a personnel positioning method and device in a pipe gallery. Background technique [0002] Pipe gallery positioning belongs to the category of indoor positioning. The commonly used methods for indoor positioning mainly include: the method of purely using inertial navigation, the positioning method based on ultra-wideband (UWB), the method of RFID, and the method based on Bluetooth. The method based on inertial navigation will have the problems of error accumulation and direction drift, which cannot meet the long-term positioning requirements. The UWB method is seriously affected by multipath, and the construction is complicated, especially in the non-line-of-sight range. Accurate positioning is not possible. The RFID or Bluetooth method also has disadvantages such as poor positioning accuracy and the need for dense layout. [0003] With the development of modern information tec...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S5/04
CPCG01C21/165G01S5/04
Inventor 闵涛罗小勇杨丛昊
Owner 湖南云箭格纳微信息科技有限公司
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