Track plotting positioning method based on pedestrian motion state recognition
A motion state and dead reckoning technology, applied in navigation calculation tools, character and pattern recognition, navigation through speed/acceleration measurement, etc., can solve problems such as inconvenience, achieve strong applicability, reduce coupling, and strong practicability Effect
Inactive Publication Date: 2021-08-10
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology
This invention realizes a positioning algorithm based on pedal-based jogging and jogging motion state recognition. The motion state detection carried out in this patent only considers the fast and slow motion of pedestrians. The positioning algorithm used is based on the foot-tie type. The device needs to be placed on the foot of the positioning person, so it is extremely inconvenient in actual use
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[0068] In the method of the present invention, firstly, the pedestrians to be positioned are collected and pre-processed through the waist-bound IMU positioning device carried with them, and then the SVM multi-classification model of the pedestrian motion state is firstly constructed before the motion state recognition, or after the established Real-time motion state recognition of pedestrians is carried out under a good classification model, and then individual error recognition results are corrected through the adjacent gait correlation constraint method based on the law of human motion, so as to realize accurate recognition of the motion state during the positioning process of the locator. Finally, on the basis of the traditional PDR algorithm, by improving the step size estimation algorithm, the heading angle correction based on the HDE (Heuristic Drift Elimination, heuristic offset elimination) algorithm and the design of a position update algorithm based on multiple motion...
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The invention discloses a track plotting positioning method based on pedestrian motion state recognition. The method comprises the following steps: constructing a pedestrian motion state recognition and classification model, recognizing a pedestrian motion state, and performing stride frequency detection, step length estimation, course estimation and track plotting. The invention has the beneficial effects that for the motion state of the pedestrian in a two-dimensional space, five types of motion states are acquired, only the three-axis acceleration and the three-axis gyroscope data are acquired to realize pedestrian navigation positioning; the track plotting method is higher in practicability, and application and development of a practical application environment are more facilitated. Modeling of the five-type motion state recognition model and motion state recognition by using the model are more perfect and accurate. The gait detection and the stride frequency detection do not need to be changed according to motion state behaviors, the invention is more universal and accurate, and the coupling with a human motion state recognition method is reduced to the maximum extent. The track plotting can accept more complex motion state types, and the applicability is higher.
Description
technical field [0001] The invention relates to the technical field of positioning, in particular to a dead reckoning positioning method based on pedestrian motion state recognition. Background technique [0002] With the rapid development of information technology, location-based services have gradually penetrated into every aspect of human life as a way of life. As one of the most challenging technologies in Location Based Services (LBS), indoor positioning has received extensive attention in the past decade. However, compared to outdoor environments where GNSS is an essential or even dominant technology, indoor positioning faces a series of challenges, such as severe multipath effects, non-line-of-sight propagation, high signal attenuation, and noise interference. At present, the implementation of reliable and high-precision indoor navigation and positioning still faces many challenges. Pedestrian indoor navigation and positioning technology is the key to ensuring the su...
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IPC IPC(8): G06K9/00G06K9/62G01C21/20G01P15/18G01C21/18G01C21/16G01C19/00
CPCG01C21/206G01C21/16G01C21/18G01P15/18G01C19/00G06V40/20G06F18/2411
Inventor 邓平赵荣鑫朱飞翔王浩祥吴明辉
Owner SOUTHWEST JIAOTONG UNIV