Anti-magnetic interference positioning method, device and system, electronic equipment and storage medium
A technology of magnetic interference and interference quantity, which is applied in the field of indoor positioning and navigation, can solve the problems of system positioning position and attitude error, and achieve the effect of low delay and good scalability
Pending Publication Date: 2021-08-17
ZHEJIANG UNIV
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Problems solved by technology
[0008]
The purpose of the embodiments of the present application is to provide a method, device, and electronic equipment to solve the problems in the indoor positioning process of the EKF-ZUPT-based PDR system in the related art, which cause the system positioning position and attitude errors to be large due to the interference of the magnetic field in the environment. big technical problem
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[0030] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.
[0031] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term...
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The invention discloses an anti-magnetic interference positioning method, device and system, electronic equipment and a storage medium. The method comprises the steps that an acceleration, an angular velocity and a magnetic field of a moving object are received; threshold detection is carried out on the acceleration and the angular speed, when the acceleration and the angular speed are both in a threshold range, whether the magnetic field is interfered or not is judged through threshold detection, if interference exists, a magnetic interference function curve is fitted, follow-up interference variable is recursed to compensate and calibrate the magnetic field, and if interference does not exist, the magnetic field does not need to be compensated; zero-speed correction is carried out on the distinguished magnetic field and acceleration to obtain the position, attitude and speed of the moving object; and when the acceleration and the angular velocity are not all in the threshold range, dead reckoning is carried out on the acceleration and the angular velocity to obtain the position, the attitude and the velocity of the moving object. According to the method, the positioning precision and the magnetic interference resistance of the pedestrian dead reckoning system are improved.
Description
technical field [0001] The present application relates to the field of indoor positioning and navigation, in particular to a method, device, system, electronic equipment, and storage medium for detecting and compensating magnetic interference in a pedestrian dead reckoning system based on an inertial sensor. Background technique [0002] Global Navigation Satellite System (GNSS) is a traditional method commonly used in pedestrian navigation technology. However, in urban, canyon, and indoor environments, where satellite signals are severely compromised, GNSS-based solutions cannot perform positioning in these situations. With the development of sensors and wireless technology, other positioning technologies, such as infrared, ultrasonic, Bluetooth, wireless local area network, etc., are widely used in indoor positioning. But the disadvantage of the above method is that beacons or base stations need to be deployed in the environment in advance to create and maintain the netwo...
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Login to View More IPC IPC(8): G01C21/16G01C21/00G01C21/20G01S19/45G01S19/47
CPCG01C21/165G01C21/005G01C21/206G01S19/45G01S19/47
Inventor 张森林王根檑刘妹琴郑荣濠吴争光董山玲
Owner ZHEJIANG UNIV