Indoor positioning algorithm capable of combining inertial navigation with terrestrial magnetism on the basis of credibility

Abstract

The invention discloses an indoor positioning algorithm capable of combining inertial navigation with terrestrial magnetism on the basis of credibility. The algorithm comprises the following steps that: in a positioning initial stage, selecting a coordinate original point in a positioning area, establishing a coordinate system, and dividing the area according to different paths; through inertial navigation, obtaining the position coordinate of each step, obtaining standard terrestrial magnetism information on each coordinate point, and establishing an inertial navigation terrestrial magnetismfingerprint library; in a positioning process, according to an initial position point, obtaining a walking coordinate, and through a path matching algorithm, obtaining inertial navigation informationsource credibility and path similarity; according to the path similarity, carrying out clustering to obtain a local area terrestrial magnetism fingerprint library; applying an improved particle filtering algorithm to obtain terrestrial magnetism matching similarity, obtaining the coordinate point with the highest similarity, carrying out secondary matching with the local area terrestrial magnetismfingerprint library to obtain terrestrial magnetism information source credibility; and carrying out adaptive weighting algorithm combination on the terrestrial magnetism information source and the inertial navigation information source to obtain the point with the highest credibility, wherein the point with the highest credibility is an estimated position. By use of the algorithm, positioning accuracy and speed can be improved, and convenient, quick and accurate positioning service is provided for common users.

Description

technical field [0001] The invention relates to an indoor positioning algorithm, which belongs to the technical field of indoor positioning, in particular to an indoor positioning algorithm based on reliability-based inertial navigation and geomagnetic fusion. Background technique [0002] With the development of the mobile Internet, people's demand for positioning is increasing, and people's basic necessities of life need to provide location information to recommend a large number of content that people are interested in. Especially with the rapid development of the Internet of Things and 5G technology, the connection between objects and people is getting closer and closer, and it is particularly important to provide location information for objects and people. [0003] The indoor environment is more complex and changeable. Since the indoor location space is small, the requirements for indoor positioning accuracy are higher than those for outdoor positioning. For the resea...

AI Technical Summary

Problems solved by technology

[0007] 1) It is time-consuming and labor-intensive to build a geomagnetic fingerprint database;

[0008] 2) The estimation gap of pedestrian walking position is too large;

[0009] 3) There are large differences in geomagnetic information in different directions at the same location;

[0010] 4) There are certain fluctuations in the collection of geomagnetic information at the same location

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