Geomagnetic matching positioning method and device
A technology of geomagnetic matching and positioning method, which is applied in the direction of measuring devices, ground navigation, instruments, etc., and can solve problems such as prone to positioning deviations
Active Publication Date: 2020-10-02
XIAN UNIV OF SCI & TECH
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[0003] In related technologies, PDR usually sets multiple geomagnetic reference points in the positioning area and collects geomagnetic data of each geomagnetic reference point. When positioning is required, the current geomagnetic data of the mobile terminal is matched with the pre-collected geomagnetic data. The position of the geomagnetic reference point with the highest matching degree is used to realize positioning. However, the related technology uses the geomagnetic data of one geomagnetic reference point for single-point matching to achieve positioning, which makes it easy to locate in the positioning area with low density of geomagnetic reference points. Positioning deviation occurs
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[0064] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings. Here, the exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.
[0065] see figure 1 , which is a schematic flowchart of a geomagnetic matching positioning method provided in an embodiment of the present invention, applied to a mobile terminal, the method includes:
[0066] S100. Iteratively calculate the current real-time position of the mobile terminal according to the initial position of the mobile terminal, each movement step and heading angle.
[0067] like figure 2 Shown is the schematic diagram of the real-time position of the iterometer provided by the embodiment of the present invention, the position at k-1 time P k-1 The coordinates are (x k-1...
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The embodiment of the invention provides a geomagnetic matching positioning method and device, and the method is applied to a mobile terminal, and comprises the steps: carrying out the iterative calculation of the current real-time moment position of the mobile terminal according to the initial position of the mobile terminal and the movement step length and course angle of each time; searching afirst number of geomagnetic datum points in a first geomagnetic datum library; searching a second number of geomagnetic datum points in the first number of geomagnetic datum points; searching a secondnumber of geomagnetic reference sequences taking the second number of geomagnetic reference points as end points in a second geomagnetic reference library; recursively calculating accumulated distances between the to-be-matched geomagnetic sequence and the second number of geomagnetic reference sequences respectively, and determining a target geomagnetic reference sequence according to the calculated accumulated distances; and updating the real-time moment position by utilizing the position of the destination of the target geomagnetic reference sequence. By applying the scheme provided by theembodiment of the invention, a double-resolution geomagnetic reference library is constructed, and single-point matching and sequence matching are fused to improve the positioning precision.
Description
technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a geomagnetic matching positioning method and device. Background technique [0002] With the advent of the information age, people rely more and more on location-based services. In the outdoor environment, GPS can provide accurate location services. However, in the indoor environment, due to the complexity of the internal structure of the building and the impact of the objects placed inside the building, it will cause multi-path propagation of the GPS signal, non-visual The receiving distance will affect the positioning accuracy. Based on this, pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR), which measures distance by step count and step length, and combines magnetometer and gyroscope to determine direction, has gradually been widely used in positioning in indoor environments. [0003] In related technologies, PDR usually sets multiple geomagnetic referen...
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IPC IPC(8): G01C21/08G01C21/20
CPCG01C21/08G01C21/206
Inventor 王安义欧雪王斌李旭虹
Owner XIAN UNIV OF SCI & TECH