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A real-time correction and navigation method and device for indoor environment magnetic anomalies

An indoor environment and navigation method technology, applied in the field of indoor navigation, can solve the problems of heading divergence, MEMS navigation heading channel divergence, heading correction, etc., to achieve high attitude accuracy and avoid the effect of heading divergence.

Active Publication Date: 2022-06-17
北京摩高科技有限公司
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Problems solved by technology

Due to the relatively small strength of the geomagnetic field, indoor magnetic anomalies often lead to the inability to correct the heading, resulting in the divergence of MEMS navigation in the heading channel.
[0003] The existing technology usually does not correct the heading in the presence of magnetic anomalies. Therefore, long-term exposure to magnetic anomalies will cause heading divergence.

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  • A real-time correction and navigation method and device for indoor environment magnetic anomalies
  • A real-time correction and navigation method and device for indoor environment magnetic anomalies
  • A real-time correction and navigation method and device for indoor environment magnetic anomalies

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Embodiment Construction

[0043] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0044] The present invention is mainly aimed at the needs of indoor MEMS navigation. Usually MEMS sensors are placed on the human body to measure the posture of the human body. When people are moving indoors, the magnetic field vector is different at each location. In this case, the magnetic field measurement cannot be introduced to ...

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Abstract

The present invention proposes a method and device for real-time correction and navigation of indoor environmental magnetic anomalies, wherein the method includes the following steps: determining the magnetic anomaly amount Δm(t) at time t; The vector is corrected to obtain the geomagnetic vector correction Mb at time t 修正 (t); Utilize the geomagnetic vector correction amount Mb of described t moment 修正 (t) Determine the rotation matrix C(t); determine the heading according to the rotation matrix C(t). The invention estimates the magnetic anomaly online and compensates the magnetic anomaly in real time, so the magnetic field intensity output can also be used to correct the heading in the magnetic anomaly area, avoiding the heading divergence problem of the previous algorithm in the case of indoor magnetic anomalies.

Description

technical field [0001] The invention belongs to the technical field of indoor navigation, and particularly relates to a real-time correction and navigation method and device for magnetic anomalies in an indoor environment. Background technique [0002] In the indoor environment, the building structure will have a certain and stable influence on the strength and declination of the geomagnetic field. The sources of this influence are usually: household appliances, steel bars, wires, etc. Due to the relatively small strength of the geomagnetic field, indoor magnetic anomalies often lead to the inability to correct the heading, resulting in the divergence of MEMS navigation in the heading channel. [0003] In the prior art, the heading is usually not corrected in the presence of magnetic anomalies. Therefore, long-term exposure to a magnetic anomaly environment will lead to heading divergence. Aiming at this problem, the present patent can effectively use the corrected magneti...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/18G01C21/16G01C21/08G01C21/06G01C21/00G01C25/00G01C17/38
CPCG01C21/206G01C21/18G01C21/165G01C21/08G01C21/06G01C21/005G01C25/005G01C25/00G01C17/38
Inventor 薛原黄雄张挺刘宇刘善涛孟来泉张南张韵孟腾飞姜伟
Owner 北京摩高科技有限公司