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A Geomagnetic Indoor Positioning Method Actively Adapting to Changing Magnetic Fields

An indoor positioning and active technology, applied in neural learning methods, ground navigation, instruments, etc., can solve the problems of positioning point drift and large error of positioning results, and achieve the effect of high positioning accuracy and strong model adaptability

Active Publication Date: 2022-07-26
NANJING INST OF TECH
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because the geomagnetism is easily changed by the environment, when the neural network is applied to the geomagnetic indoor positioning, it is easy to appear in the changing area (the environmental magnetic field is changed due to the change of the placement of some items), and the positioning result has a large error, which leads to the drifting of the positioning point.

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  • A Geomagnetic Indoor Positioning Method Actively Adapting to Changing Magnetic Fields
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  • A Geomagnetic Indoor Positioning Method Actively Adapting to Changing Magnetic Fields

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Embodiment Construction

[0032] The following describes the geomagnetic indoor positioning method for actively adapting to changing magnetic fields of the present invention in further detail with reference to the accompanying drawings and specific embodiments.

[0033] like figure 1 As shown in the figure, a geomagnetic indoor positioning method that actively adapts to changing magnetic fields includes the following steps:

[0034] S1. Measure the geomagnetic sequence of the indoor positioning area along the planned path (the path planning is the existing technology, and a straight line should be used), divide the geomagnetic sequence into several geomagnetic sub-sequences, and record the end coordinates of each segment of the geomagnetic sub-sequence. The geomagnetic subsequence is filtered (the filter can be Kalman filter), and a data set is generated.

[0035] S2. Input the data set into a pre-built position prediction model for model training, and the output result of the position prediction mode...

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Abstract

The invention relates to a geomagnetic indoor positioning method that is actively adapted to changing magnetic fields. , the predicted coordinate position at the initial time is obtained. Pedestrian dead reckoning method to estimate the current position of pedestrians. When the position of the environmental magnetic field changes, the pedestrian dead reckoning with short-term high accuracy and high data update rate is used to judge and update the changed magnetic field position, which avoids the accumulation of errors caused by the long distance of pedestrian dead reckoning and is inconsistent with the actual position. At the same time, there is no need to re-measure the overall magnetic field for modeling, modeling, training, etc., with high positioning accuracy and strong model adaptability.

Description

technical field [0001] The invention belongs to the technical field of indoor positioning, and relates to a geomagnetic indoor positioning method that can actively adapt to changing magnetic fields. Background technique [0002] Since the geomagnetic field is a spontaneous magnetic field generated by the earth's rotation, compared with other indoor positioning technologies, geomagnetic indoor positioning has the natural cost advantage of zero deployment. Indoor positioning will continue to work normally. However, measuring the magnetic field data in buildings consumes a lot of labor costs, and at the same time, the geomagnetism is very susceptible to interference from the external environment. [0003] In the context of the widespread application of artificial intelligence, a large number of indoor positioning methods use neural networks to process features and finally output positions. Facts have proved that the neural network has a very strong ability to extract features...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/08G01C21/16G06N3/04G06N3/08
CPCG01C21/206G01C21/08G01C21/165G06N3/049G06N3/08G06N3/045
Inventor 丁瑞李思琦宦小敏
Owner NANJING INST OF TECH