Indoor pedestrian navigation method based on self-backtracking algorithm

Abstract

The invention discloses an indoor pedestrian navigation method based on a self-backtracking algorithm. A pedestrian being navigated wears an MEMS sensor. The navigation method comprises the followingsteps: carrying out pedestrian dead reckoning according to an MEMS gyroscope and an MEMS accelerometer to obtain pedestrian walking information during a period of time; carrying out straight line detection on the walking information in the period of time to judge whether the walking route of the pedestrian in the period of time is a straight line; if determining that the pedestrian walks in a straight line, constructing pseudo observed quantity according to heading angle information; carrying out navigation error detection and correction compensation through a forward and backward adaptive kalman filtering algorithm; and outputting a pedestrian indoor navigation and positioning result. By fully exploring the gait characteristics of the pedestrian when walking, the method carries out navigation error estimation and compensation on pedestrian position and attitude information by utilizing walking constraint conditions, thereby realizing a purpose of improving position and posture determination accuracy of the indoor pedestrian navigation scheme based on the motion sensor.

Description

technical field [0001] The invention relates to indoor pedestrian navigation and positioning, in particular to an indoor pedestrian navigation method based on a self-backtracking algorithm. Background technique [0002] Location-based Services (LBS) are in urgent demand in the military field, industry field and people's life field. Especially with the advent of the mobile Internet era, location-based services have played an increasingly important role in daily life. Well-known location-based service providers include Google Maps, AutoNavi Maps, etc., which bring convenience to people's travel. Indoor navigation technology is a hot research direction at present. It has important commercial value. For example, in the indoor environment of shopping malls, it can provide consumers with store location information, which can make shopping faster; when applied in large parking lots, it can help parking users quickly Find a parking space or find a car in reverse; it is also of grea...

AI Technical Summary

Problems solved by technology

However, this method needs to arrange a large number of wireless transmitting devices in the indoor environment in advance and obtain the corresponding landmark information. At the same time, it needs corresponding collection / drawing map tool software and geomagnetic measurement equipment to complete the collection of indoor map information and geomagnetic information.

This solution is costly and the operation process is more complicated

The advantages of positioning solutions based on motion sensors are low cost, strong scalability, and minimal environmental impact. The disadvantage is poor long-term accuracy

The reason for the poor long-term accuracy of the solution based on the motion sensor is that due to the limitation of the manufacturing process, the low-cost MEMS sensor has the disadvantages of low precision and large random error.

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