Pedestrian self-positioning method based on audio/video multi-source information fusion of smartphone

Abstract

The invention discloses a pedestrian self-positioning method based on audio / video multi-source information fusion of a smartphone. A pedestrian is subjected to acoustic positioning and visual positioning; finally, for positioning results, a pedestrian state equation is processed with a UKF (unscented Kalman filter) algorithm, nonlinear problems in the equation are observed, fusion of acoustic range, PDR positioning and visual position is performed independent of infrastructure of application places, and pedestrian self-positioning adopting indoor and outdoor seamless connection is realized. Positioning errors can be reduced to subnanometer scale from nanometer scale through correction of PDR results by pseudo-ultrasonic ranging, meanwhile, a positioning system cannot be affected by inertial navigation drifting in combination with data information of visual gyro and a visual odometer, infrastructure of application places is not depended, and the universality and robustness are better. The method is applicable to pedestrian self-positioning in indoor and outdoor environments.

Description

technical field [0001] The present invention relates to the field of indoor and outdoor positioning, specifically a pedestrian self-positioning method based on smart phones for pseudo-ultrasonic ranging, pedestrian dead reckoning (PDR) and visual ranging technology to realize seamless connection between indoor and outdoor. It has important application value in location service scenarios. Background technique [0002] In 2012, the state clearly pointed out that it is necessary to promote the development of indoor positioning technology, realize indoor and outdoor collaborative real-time positioning, and promote the improvement of location service level. With the popularization of mobile communication, the maturity of indoor positioning technology, and the continuous improvement of people's awareness and acceptance of the indoor location service market, the market demand is growing. Pedestrian self-location devices with good user experience must be seamlessly connected indoor...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem of insufficient indoor and outdoor pedestrian self-positioning accuracy due to the large attenuation of electromagnetic waves and the influence of pedestrian dead reckoning (PDR) by inertial navigation drift in indoor and outdoor complex environments, this invention proposes a multi-source information based on smart phone audio and video Integrated pedestrian self-positioning method to realize pedestrian self-positioning seamlessly connected indoors and outdoors

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