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An indoor positioning method based on mobile phone geomagnetism and scene images

A scene image, indoor positioning technology, applied in ground navigation, instruments, navigation and other directions, to achieve the effect of improving accuracy and good accuracy

Active Publication Date: 2021-10-29
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0003] Accurate indoor positioning is still a major challenge

Method used

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  • An indoor positioning method based on mobile phone geomagnetism and scene images
  • An indoor positioning method based on mobile phone geomagnetism and scene images
  • An indoor positioning method based on mobile phone geomagnetism and scene images

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Embodiment Construction

[0031] The present invention will be described in detail below in combination with specific embodiments.

[0032] The present invention proposes a method for indoor positioning based on geomagnetism and scene images. The general framework is as follows figure 1 shown. Specifically follow the steps below to implement.

[0033] Step 1. Offline collection of indoor map fingerprint information

[0034] One fingerprint information corresponds to four measured values ​​and their corresponding positions. In order to collect fingerprint information, the indoor map is divided into 60cm*60cm grids. Each grid is set to a unique position and assigned a position label. Usually there are many roads in an indoor map, and each road is divided into two directions, that is, the main two directions of the road, to collect geomagnetic and scene image information respectively. The measured geomagnetic value is a four-dimensional vector (m x , m y , m z , M), where (m x , m y , m z ) is t...

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Abstract

The invention discloses an indoor positioning method based on mobile phone geomagnetism and scene images. The present invention comprises the following steps: step 1, offline collection of map indoor map fingerprint information; step 2, step size estimation model: guessing the user's step size and walking direction; step 3, measurement model: using convolutional neural network to analyze the scene map Extract the deep information; step 4, use the adaptive particle filter algorithm to track the location trajectory; the present invention does not need to build infrastructure, only the smart phone that everyone uses now. Both geomagnetism and scene pictures can be measured with the sensor that comes with the smartphone. The present invention utilizes the respective advantages of geomagnetism and scene pictures to bring better accuracy to indoor positioning.

Description

technical field [0001] The invention belongs to the field of indoor positioning, and in particular relates to a method for constructing a map by using geomagnetism and scene images, extracting location features by using a convolutional neural network, and performing dynamic positioning by using a particle filter algorithm. Background technique [0002] Indoor positioning technology plays a very important role in improving the convenience of our daily life, and is very useful in many aspects, such as guiding robots to automatically drive in buildings, when people are in unfamiliar building environments Find the destination he wants to reach in the car, guide the vehicle to find the location in the underground garage, etc. [0003] Accurate indoor localization is still a major challenge. Geomagnetism is ubiquitous and is an important signal that can be used for indoor positioning without infrastructure. The same goes for visual images, both of which are conveniently captured...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/08
CPCG01C21/08G01C21/206
Inventor 颜成钢巩鹏博孙垚棋张继勇张勇东
Owner HANGZHOU DIANZI UNIV
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