Indoor positioning method and helmet

Abstract

The application discloses an indoor positioning method and a helmet, and relates to the technical field of indoor positioning. The indoor positioning method comprises the following steps: acquiring initial position information of the helmet, and acquiring data output by a geomagnetic sensor, a gyroscope, a barometer and an accelerometer; calculating height change information of the helmet according to the change of the barometric data, and determining a heading angle of the helmet according to angular velocity data and heading data; detecting gait events and / or height change information of a user based on the acceleration data, and identifying a motion state of the user currently wearing the helmet; generating displacement increments of the user in a horizontal direction and displacement increments of the user in a vertical direction according to the motion state, the heading angle, the height change information and the step length of the user; and determining a current three-dimensional position coordinate of the user according to the initial position information, the displacement increments in the horizontal direction and the displacement increments in the vertical direction. The application aims to realize positioning in a three-dimensional space.

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