Indoor positioning method and device based on geomagnetic field

Abstract

The invention discloses an indoor locating method and device based on the geomagnetic field. The method comprises the steps of: pre-acquiring a geomagnetic fingerprint characteristic of a to-be-located indoor space, and constructing a geomagnetic fingerprint database after performing a noise-reduction pretreatment to the geomagnetic fingerprint characteristic; acquiring an initial position of a current mobile carrier, and switching to a corresponding locating rule according to the area of the initial position; and, measuring a geomagnetic signal of the position of the mobile carrier in real time, and acquiring the positional information of the current mobile carrier after matching the measured geomagnetic signal with the geomagnetic fingerprint database according to the corresponding locating rule. In the method provided by the embodiment of the invention, the noise-reduction pretreatment is performed to the pre-acquired geomagnetic fingerprint characteristic, so that the environment noise in the fingerprint database and noise caused by the acquisition are eliminated; at the same time, the corresponding locating rule is switched according to different area types of the indoor space, so that the matching locating accuracy is prevented from being affected by the single locating rule; and thus, the locating accuracy is improved.

Description

technical field [0001] The present invention relates to the technical field of indoor positioning, in particular to an indoor positioning method and device based on the geomagnetic field. Background technique [0002] Nowadays, people's demand for location information of indoor scenes is gradually increasing. The acquisition of location information is conducive to people's perception and familiarity with unknown environments, which has also led to indoor positioning becoming a major research hotspot at this stage. Utilizes common signal types in indoor environments, including WiFi, ZigBee, Bluetooth, geomagnetic field, ultra-wideband, radio frequency, etc. Among them, geomagnetic field has the advantage of low cost because it does not need to lay any hardware auxiliary equipment, and is gradually being used by all walks of life respected by the industry. [0003] At present, the realization of geomagnetic field positioning is mainly to obtain the indoor geomagnetic feature ...

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Problems solved by technology

[0003] At present, the realization of geomagnetic field positioning is mainly to obtain the indoor geomagnetic feature fingerprint map, record the geomagnetic signal characteristics of each position, and complete the positioning through the matching of the pipeline and the magnetic field. However, due to the excessive use of the inertial navigation function during positioning, errors will accumulate. At the same time, the geomagnetic feature fingerprint map itself also has environmental and acquisition errors, which makes the geomagnetic field positioning method unable to take into account high accuracy at the same time at low cost

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