A Mems-Based Indoor Orientation Optimization Method
An optimization method and heading angle technology, applied in navigation, instrumentation, surveying and navigation, etc., can solve problems such as magnetic heading errors, achieve the effects of suppressing drift, improving calculation accuracy, and precise heading
Active Publication Date: 2021-08-24
北京金坤科创技术有限公司
View PDF3 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, due to the influence of ferromagnetic materials in buildings indoors, the magnetic heading error is relatively large. Therefore, when inertial navigation technology is used, the final positioning result will deviate greatly from the real position due to the direction error.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0030] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto. figure 1 It is a schematic flowchart of a MEMS-based indoor direction optimization method provided by an embodiment of the present invention.
[0031] In this embodiment, the user holds a smart phone (the terminal contains an acceleration, a magnetometer, and a gyroscope), the sampling frequency of the acceleration and the magnetometer is 20 Hz, and the sampling frequency of the gyroscope is 50 Hz, and the three-axis acceleration data and the three-axis magnetometer data are used. The calculated magnetic heading angle is used as the third-party heading angle.
[0032] The recommended values of the parameters involved in this embodiment are as follows: time window T w =[10s,15s], the time threshold for starting third-party course angle correction ΔT=[50s,80s], the maximu...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
An indoor direction optimization method based on MEMS (Micro-Electro-Mechanical System) belongs to the field of indoor and outdoor positioning technology. Indoors, using magnetic field information to calculate the heading will not be able to accurately determine the terminal heading due to the influence of ferromagnetic materials in buildings. Information Accuracy. The gyroscope calculates the heading angle without external influence, but the error will accumulate over time. Based on the advantages and disadvantages of gyroscope and magnetic heading, a combined heading algorithm is designed. This method can effectively suppress the cumulative error of the gyroscope, judge the reliability including but not limited to the magnetic heading information, and obtain relatively accurate heading angle information. When the y-axis of the MEMS chip is upright, the coordinate system rotation algorithm of the carrier is designed. This method avoids the problem of large fluctuations in the pitch angle caused by the instability of the arctangent function near 90°, and further improves the solution combined with the magnetometer. heading angle accuracy.
Description
technical field [0001] The invention belongs to the technical field of indoor and outdoor positioning. Background technique [0002] Inertial devices have become the standard configuration of most smart devices such as mobile phones and tablets, and the use of acceleration and magnetometers to solve heading angles has been widely used. However, due to the influence of ferromagnetic materials in buildings indoors, the magnetic heading error is relatively large. Therefore, when inertial navigation technology is used, the final positioning result will deviate greatly from the real position due to the direction error. [0003] The invention combines the characteristics that the gyroscope is not affected by the external environment and the accumulation of errors, and the acceleration, the gyroscope and the third-party heading angle are combined to judge the heading, which improves the reliability and accuracy of the indoor heading angle, and reduces the risk caused by external in...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/005G01C21/165
Inventor 卢敏王培重张晓东吴彤肖登坤
Owner 北京金坤科创技术有限公司