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Real-time trajectory dynamic-based two-dimensional jump point correction method for indoor positioning

An indoor positioning and trajectory technology, applied in the field of two-dimensional jump point correction based on real-time trajectory dynamics

Active Publication Date: 2021-05-11
NANJING UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Purpose of the invention: To solve the problem that individual calculation points in the trajectory jump out of the actual trajectory, introduce a jump point correction method before the filtering algorithm, and greatly reduce the individual points that greatly deviate from the actual trajectory, so that the filtering process will not be caused by such individual Points affect the direction of the overall trajectory, while enhancing the smoothness and continuity of the trajectory

Method used

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  • Real-time trajectory dynamic-based two-dimensional jump point correction method for indoor positioning
  • Real-time trajectory dynamic-based two-dimensional jump point correction method for indoor positioning
  • Real-time trajectory dynamic-based two-dimensional jump point correction method for indoor positioning

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Embodiment

[0080] In order to verify the effectiveness of the proposed method, the field is deployed in the actual environment and tested. The test site is a room of about 5m*7m. There is a piece of glass in the upper left corner of the room, and the nearby signals will be obviously reflected. A total of 8 base stations are deployed around the site, and the height of the base stations is about 3m. The testers walked along the edge of the field for several weeks, and the trajectory was close to a rectangle. The TDOA data and TOF data sequences collected this time are used for two-dimensional positioning calculation, and the calculation results are used as test data for calculation in the present invention, wherein the implementation and parameter details of each step are as follows:

[0081] Step 1, obtain the current two-dimensional positioning solution result ff and all historical solution positioning results, and store all historical solution positioning results into the data group Fn...

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Abstract

The invention provides a real-time trajectory dynamic-based two-dimensional jump point correction method for indoor positioning. The method comprises the following steps: 1, acquiring a current two-dimensional positioning calculation result ff and positioning results of all historical calculation, and putting the results into Fn; 2, if the number sizefn of the calculation results is equal to 0, storing ff in Fn to serve as historical trajectory data, and otherwise, executing the step 3; 3, calculating a threshold value threshold and a distance dis; 4, turning to step 5 if sizefn is greater than 1, if dis is greater than threshold, deleting the last Fn, and otherwise, storing ff into the tail of the Fn; 5, if dis is smaller than threshold, turning to step 7, otherwise, turning to step 6; 6, re-calculating the dis, if the dis is greater than the threshold, circulating the step 6, otherwise, turning to the step 7; and 7, storing the ff result into the end of the Fn as historical resolving data.

Description

technical field [0001] The invention relates to an indoor positioning method, in particular to a two-dimensional jump point correction method based on real-time trajectory dynamics for indoor positioning. Background technique [0002] With the continuous development of the Internet of Things and mobile Internet technology, more and more services and applications rely on the user's location information, how to accurately locate the device is becoming a hot spot in current research. In the outdoor environment, the Global Positioning System (GPS) has been widely used due to its advantages of high precision, strong stability and low cost. However, in the indoor environment, because satellite signals cannot penetrate buildings, the use of GPS has been severely restricted. Moreover, compared with the outdoor environment, the indoor environment is more significantly affected by multipath effects and non-line-of-sight transmission (NLOS), and there are also problems such as dynamic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W4/021H04W4/029H04W4/33H04W64/00
CPCH04W4/021H04W4/023H04W4/029H04W4/33H04W64/00Y02D30/70
Inventor 申富饶赖碧兰赵健
Owner NANJING UNIV