Motion track determination method, device and system

Abstract

The invention discloses a motion trail determination method, device and system. The method comprises the following steps: acquiring inertia information and pace distance measurement information of a foot of a target object; step length information is determined according to the inertia information and the step distance measurement information; step direction information is determined according to the inertia information, and motion direction information of the target object is determined according to the step direction information; and determining a motion position of the target object according to the motion direction information and the step length information, so as to determine a motion track according to the motion position. Through operation of the technical scheme provided by the embodiment of the invention, the problems of interference on position judgment and negative effects caused by obvious accumulated drift errors in direction estimation in the prior art can be solved, and the beneficial effect of improving the positioning accuracy and stability is achieved.

Description

technical field [0001] The present invention relates to positioning technology, in particular to a method, device and system for determining a motion track. Background technique [0002] In recent years, with the acceleration of urbanization, the number of large-scale buildings with complex indoor structures such as commercial complex buildings, large residential apartments, and large-scale industrial plant parks has increased. Although the huge building area and fine indoor functional zoning provide more citizens with production and living space needs, it also brings many potential hidden dangers to the field of fire safety. As the main force of fire rescue work, firefighters need to adopt teamwork and work together in the rescue process to achieve efficient rescue. However, during indoor rescue work, firefighters are unable to know the current location information of themselves and their teammates, and cannot record the routes they have traveled and the surrounding enviro...

AI Technical Summary

Problems solved by technology

However, during indoor rescue work, firefighters are unable to know the current location information of themselves and their teammates, and cannot record the routes they have traveled and the surrounding environment due to problems such as visibility, wireless communication signal connection restrictions, and GPS signal communication obstruction. It can only abstractly describe the surrounding building structure and location through walkie-talkies. In an emergency, the lack of effective positioning means will threaten the life safety of firefighters. great resistance

[0003] In the prior art, the attitude estimation algorithm based on the inertial sensor can use the inertial data of the wearer to estimate the position information during the movement. However, this type of algorithm is not accurate enough in the calculation of steps detection and step length, and in the step direction estimation. It is easy to have significant cumulative drift errors due to differences in the wearer's gait habits. In complex indoor rescue environments, the cumulative errors will largely interfere with position judgment and even bring negative effects

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