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Personnel height autonomous positioning algorithm

An autonomous positioning and personnel technology, which is applied in navigation calculation tools, navigation through speed/acceleration measurement, and measurement devices, can solve the problems of being easily affected by the environment and poor autonomy of indoor height algorithms, etc., to overcome the vulnerability to environmental influence, Good autonomy and reduce the effect of altitude error accumulation

Active Publication Date: 2019-04-05
CHONGQING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

At present, the indoor height algorithm has poor autonomy and is easily affected by the environment.

Method used

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Embodiment Construction

[0060] The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0061] The technical scheme that the present invention solves the problems of the technologies described above is:

[0062] The invention discloses a highly autonomous positioning algorithm for personnel only relying on inertial sensors. The flow chart of the technical solution is as follows: figure 1 As shown, the details are as follows:

[0063] First, first perform data processing on the accelerometer and gyroscope of the inertial unit:

[0064] 1. Select an inertial system that integrates a three-axis MEMS accelerometer and gyroscope.

[0065] 2. Select the double-circle electric turntable of the rotation control system, and perform zero-return operation on the main shaft and pitch axis of the elect...

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Abstract

The invention requests to protect a personnel height autonomous positioning algorithm. The algorithm comprises the following steps: one, detecting acceleration peak characteristics on X-axle and Z-axle, and judging upstairs or downstairs states or walking state of the personnel; detecting the gait of the personnel, and computing the step height when the personnel goes upstairs or downstairs through accelerometer instant zero capturing and gyroscope three-dimensional dynamic fusion algorithm, and the performing height resolution; and three, detecting turning points in the upstairs and downstairs process through an attitude angle, and correcting the resolved height to the integral multiple of the height of a half of floor at the turning point, thereby reducing the height error. The height algorithm is independent of a barometer and other auxiliary equipment, the autonomy is high and cannot be easily influenced by the external environment, and the algorithm is suitable for various fieldswith complex indoor environment.

Description

technical field [0001] The invention belongs to a height algorithm, which does not rely on barometers and any auxiliary equipment, but completely depends on inertial sensors, has good autonomy, high reliability, and is not easily affected by environmental changes. It is especially suitable for indoor environments with complex environmental changes, such as personnel positioning in nuclear power plants and fire rescue. Background technique [0002] With the increasing demand for applications such as situational awareness and environmental intelligence, applications based on indoor location-based services are becoming more and more popular, such as fire rescue and personnel positioning in nuclear power plants. Since the satellite signal cannot be received or the satellite signal is weak in indoor buildings, GPS altimetry cannot be used indoors. [0003] Indoor height positioning mainly refers to accurately locating personnel to the floor where they are located. Among the curr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/206
Inventor 刘宇李瑶郭俊启路永乐邸克方针肖明朗张旭张泽欣蒋博
Owner CHONGQING UNIV OF POSTS & TELECOMM
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