Pedestrian track plotting method, navigation method and device, handheld terminal and medium

A pedestrian dead reckoning and handheld terminal technology, applied in the field of navigation, can solve problems such as PDR heading deviation, achieve the effect of improving accuracy, avoiding too much error, and improving accuracy

Pending Publication Date: 2020-07-21
ALIBABA GRP HLDG LTD
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  • Abstract
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Problems solved by technology

[0003] At present, PDR usually uses the Y axis of the mobile phone inertial sensor as the direction of pedestrians, but often encounters scenar

Method used

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  • Pedestrian track plotting method, navigation method and device, handheld terminal and medium
  • Pedestrian track plotting method, navigation method and device, handheld terminal and medium
  • Pedestrian track plotting method, navigation method and device, handheld terminal and medium

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Example Embodiment

[0046] Such as figure 1 As shown, the natural walking of the human body includes three components: forward, lateral and vertical, and the three components correspond to Y P , X P ,Z P The direction of the three coordinate axes, the mobile phone coordinate axis is the coordinate axis of the inertial sensor in the mobile phone. Hold the phone in the palm of your hand while walking, the vertical axis of the phone corresponds to Y D Axis and horizontal axis correspond to X D Axis, perpendicular to screen Z D Axis, the vertical axis of the phone Y D The axis coincides with the forward component of the pedestrian. At present, in the process of calculating the pedestrian trajectory, the Y-axis of the mobile phone is used as the forward direction of the pedestrian, that is, the direction of the forward axis.

[0047] However, in the process of using mobile phones, we often encounter situations where the direction of the mobile phone is inconsistent with the forward direction of pedestrian...

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Abstract

The embodiment of the invention provides a pedestrian track plotting method, a navigation method, a navigation device, a handheld terminal and a medium. The pedestrian track plotting method comprisesthe following steps: acquiring triaxial acceleration of each step corresponding to a handheld terminal; calculating a rotation matrix of the current posture of the handheld terminal based on the acquired triaxial acceleration of each step corresponding to the handheld terminal; rotating the obtained triaxial acceleration to a horizontal state according to the calculated rotation matrix to obtain atwo-dimensional acceleration in the horizontal direction; and extracting feature vectors of the two-dimensional acceleration, and selecting the feature vector with a large feature value as the heading direction of a pedestrian. By adopting the scheme, the direction calculation accuracy of the pedestrian track can be improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of navigation, and in particular to a dead reckoning method for pedestrians, a navigation method and device, a handheld terminal and a medium. Background technique [0002] Pedestrian Dead Reckoning (PDR) is to use the inertial sensors of mobile phones and other handheld terminals to calculate the step length and direction of people, and perform pedestrian dead reckoning. The estimated trajectory can not only be applied to positioning scenarios, but also Building indoor fingerprints based on crowdsourced trajectory recovery. [0003] At present, PDR usually uses the Y axis of the mobile phone inertial sensor as the direction of pedestrians, but often encounters scenarios where the direction of the mobile phone and the direction of pedestrians are inconsistent, so the heading calculated by PDR will be biased. Contents of the invention [0004] An aspect of an embodiment of the pre...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01C21/00
CPCG01C21/16G01C21/20G01C21/206G01C21/005
Inventor 赵晖
Owner ALIBABA GRP HLDG LTD
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