A Pedestrian Location Method Based on Inertial Network
A positioning method and pedestrian technology, applied in the field of pedestrian positioning based on inertial network, can solve problems such as inability to meet universality and autonomy, reduce pedestrian positioning accuracy, increase errors, etc., achieve accurate distance and heading measurement, and suppress inherent errors. , the effect of overcoming additional errors
Inactive Publication Date: 2021-09-03
BEIHANG UNIV
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Problems solved by technology
Among these existing indoor positioning technologies, except for inertial positioning technology, other technologies generally require external facilities or prior databases, which cannot meet the requirements for universality and autonomy.
However, the autonomous and universal inertial navigation technology is mainly aimed at the motion of rigid bodies. When applied to the human body with a unique physiological motion state, not only the inherent cumulative error of inertial navigation exists, but also additional errors will be added, thereby reducing the Accuracy of pedestrian positioning
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[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0030] According to one embodiment of the present invention, a kind of pedestrian localization method based on inertial network is proposed, and this method comprises the following steps:
[0031] Step 1: Fix 2 to 5 MEMS inertial sensors on the waist and feet of the human body, and the host computer (PC, laptop, tablet or mobile phone) receives the information collected by each MEMS inertial sensor in real time through wireless communication (Blueto...
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The invention discloses a pedestrian positioning method based on an inertial network. The method is based on the fact that the waist and feet of pedestrians have different motion characteristics during walking, and inertial sensors are respectively installed on the waist and feet of the human body to sense their running information. , integrating and using the motion characteristics of different parts of the human body, using the unique angle and distance constraint relationship between the waist and the foot during pedestrian walking, based on the inequality constraint Kalman filter method, suppressing the heading angle and distance measurement in the pedestrian dead reckoning method error, so as to achieve more accurate pedestrian positioning. The invention proposes an inertial network-based pedestrian positioning method based on the unique physiological characteristics of the waist and feet during pedestrian movement, which overcomes the limitations of existing pedestrian inertial navigation technology and has practical application significance for low-cost, high-precision indoor pedestrian navigation.
Description
technical field [0001] The invention relates to the technical field of indoor positioning, in particular to an inertial network-based pedestrian positioning method. Background technique [0002] Indoor positioning technology is the core technology of smart cities, Internet of Things and emergency rescue, etc., and is closely related to people's daily life. Human beings spend more than 80% of their time in indoor environments, resulting in a booming indoor positioning market. The surge in industrial demand has put forward new requirements for positioning technology in addition to traditional performance indicators such as positioning accuracy, response speed, and stability, especially for universal and autonomous indoor positioning technology. A variety of indoor positioning technologies emerge in an endless stream, including Wi-Fi, RFID, UWB, ultrasonic positioning technology based on wireless communication, and vision, geomagnetic field, and inertial sensor technologies ba...
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 朱庄生贾悦谭浩徐起飞
Owner BEIHANG UNIV