CN104154913A - Autonomous indoor positioning algorithm in all-attitude environment - Google Patents
Autonomous indoor positioning algorithm in all-attitude environment Download PDFInfo
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- CN104154913A CN104154913A CN201410297278.XA CN201410297278A CN104154913A CN 104154913 A CN104154913 A CN 104154913A CN 201410297278 A CN201410297278 A CN 201410297278A CN 104154913 A CN104154913 A CN 104154913A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses an autonomous indoor positioning algorithm in an all-attitude environment. Firstly, an autonomous indoor positioning function under a hand-held attitude is realized by use of an MEMS (Micro-electromechanical System) inertial sensor in a low-cost motion attitude measurement module which is integrated in a portable hand-held terminal; secondly, accurate tracking of switching between different attitudes is completed by use of an attitude switching detection algorithm on the basis of the hand-held attitude; finally, an autonomous indoor positioning function under different attitudes based on the MEMS inertial sensor in the motion attitude measurement module is realized on the basis of a hand-held attitude positioning algorithm and attitude switching detection in combination with a rotating matrix under switching of different attitudes. The algorithm is mainly composed of the following four parts: accurate tracking of attitude switching process, accurate classification of attitudes after attitude switching, attitude angular accuracy optimization in the attitude switching process, and implementation and updating criteria of the autonomous indoor positioning algorithm under various attitudes. The low-cost motion attitude measurement module integrated in the portable hand-held terminal serves as the hardware platform for implementing the algorithm.
Description
Technical field
The present invention relates to MEMS inertial sensor navigation field, particularly attitude freely converts in the application keeping in autonomous inertial navigation precision field.
Background technology
Pedestrian is in the time utilizing portable handheld terminal to carry out indoor positioning, and the possibility that remains on for a long time hand-held attitude is little.At positioning stage, equipment may be placed in one's ear, also mobile phone may be placed in the pocket of loins; Above-mentioned portable handheld terminal is used for to battlefield soldier in the location of not fixing under indoor environment, hand-held if locator meams is only restricted to, so for the soldier on battlefield, can not keep for a long time a kind of attitude constant.Consider above-mentioned two kinds of situations, single attitude location technology more and more can not meet the demand of location, and in this case, the autonomous indoor positioning technology based under full attitude environment just seems more and more important.
At present for realizing the technology of indoor positioning under different attitudes and widely usedly having bluetooth (Bluetooth), WLAN, an infrared ray (Location Based Service, LBS), ultra broadband (Ultra-Wideband, UWB), radio-frequency (RF) identification (Radio Frequency Identification, RFID) etc.These location technologies are because needs layout, gather in advance reference point signal intensity and set up off-lined signal intensity storehouse and carry out target to position at locating area.First, because wireless signal is easily subject to the various interference such as solid suspension in wall, floor, air under indoor environment, thereby have a strong impact on final positioning precision; Secondly, these locator meamss can not realize the indoor positioning under autonomous condition.
Under full attitude environment based on MEMS inertial sensor, carrying out autonomous indoor positioning is the focus of studying at present.First, this indoor positioning mode need to not layouted at locating area, has greatly reduced cost; In fact, it can completely autonomous positioning, and do not rely on any external condition.These advantages have determined that under the full attitude based on MEMS inertial sensor, autonomous indoor positioning will be occupied in future positioning field very large market.
Utilize MEMS inertial sensor can realize the autonomous location under indoor environment.Be mainly to utilize data anastomosing algorithm to merge the data of MEMS gyroscope, accelerometer and three inertial sensors of magnetometer at present, thereby realize autonomous indoor positioning.Its main data anastomosing algorithm has Kalman filtering (KF), EKF (EKF), Unscented kalman filtering (UKF) and particle filter.But the location technology of foregoing description only could position target under metastable attitude at MEMS inertial sensor, and this has limited the application of MEMS inertial navigation greatly.
Summary of the invention
In view of this, technical matters to be solved by this invention is to provide autonomous indoor positioning algorithm under a kind of full attitude environment; Overcome the autonomous indoor positioning mode of traditional MEMS inertial sensor and cause the defects such as location algorithm paralysis due to posture changing, expanded the autonomous indoor positioning application of MEMS inertial sensor.
One of object of the present invention is to propose autonomous indoor positioning algorithm under a kind of various different attitudes; Two of object of the present invention is while proposing a kind of various different Posture exchange, the real-time update of autonomous indoor positioning algorithm.
One of object of the present invention is achieved through the following technical solutions:
Under various different attitudes provided by the invention, the hardware platform of autonomous indoor positioning algorithm is MEMS Inertial Measurement Unit integrated in portable handheld terminal.After Posture exchange completes, utilize accelerometer and magnetometer again to resolve the initial attitude angle of switching rear attitude, and convert it into hypercomplex number, for later stage filtering provides basis; Due to before and after Posture exchange, there is a difference in attitude angle simultaneously, after Posture exchange is stable, difference eliminated.
Two of object of the present invention is achieved through the following technical solutions:
When various different Posture exchange provided by the invention, the condition of the real-time update of autonomous indoor positioning algorithm, comprises that 3-axis acceleration counts the positive and negative and positive and negative situation of change of roll angle of mould value, three axis accelerometer single shaft data;
Described 3-axis acceleration counts mould value and three axis accelerometer single shaft data are positive and negative, for judging Posture exchange type;
Described Posture exchange type comprises
Described roll angle is positive and negative in judging the direction of Posture exchange;
Described Posture exchange direction comprises that attitude is switched with attitude left and switches to the right;
The invention has the advantages that: user is not subject to the strict restriction of attitude at positioning stage, in the permissible range of attitude kind, user can change the attitude of location according to demand, and the autonomous indoor positioning realizing based on MEMS inertial sensor is played to great impetus.
Brief description of the drawings
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing, the present invention is described in further detail, wherein:
Fig. 1 is hardware block diagram of the present invention;
Fig. 2 is location algorithm block diagram under hand-held attitude;
Fig. 3 is Posture exchange track algorithm block diagram;
Fig. 4 is the algorithm block diagram to attitude classification after Posture exchange;
Fig. 5 is attitude angle Processing Algorithm block diagram in Posture exchange process;
Fig. 6 is Fixed posture angle difference algorithm block diagram before and after Posture exchange;
Fig. 7 is full Attitude Algorithm FB(flow block).
Embodiment
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail; Should be appreciated that preferred embodiment is only for the present invention is described, instead of in order to limit the scope of the invention.
Embodiment 1
Fig. 1 is hardware block diagram of the present invention; Fig. 2 is location algorithm block diagram under hand-held attitude; Fig. 3 is Posture exchange track algorithm block diagram; Fig. 4 is the algorithm block diagram to attitude classification after Posture exchange, and Fig. 5 is attitude angle Processing Algorithm block diagram in Posture exchange process, and Fig. 6 is Fixed posture angle difference algorithm block diagram before and after Posture exchange, and Fig. 7 is full Attitude Algorithm FB(flow block);
In described hardware block diagram, mainly contain 3 axis MEMS gyroscope, 3 axis MEMS accelerometer and 3 axis MEMS magnetometer;
Autonomous indoor positioning under described hand-held attitude under location algorithm is located attitude and is maintained under hand-held attitude in the overall process of location;
Whether described Posture exchange is tracked as and utilizes accelerometer data and the real-time test pose of roll angle information switching;
The attitude after described Posture exchange, attitude being categorized as after utilizing accelerometer three axis data and the positive and negative situation of change of roll angle to Posture exchange is classified accurately, and the attitude of its switching can be divided into be switched attitude left and switch the large class of attitude two to the right;
The positive and negative combination of described acceleration three axis data changes, and comprises the positive and negative array mode of X-axis, Y-axis and Z axis;
The described attitude of switching is left: the left side of a left side, the hand-held right side → in one's ear, the hand-held right side → loins left side, the loins right side → in one's ear, right → hand-held left side of loins, the in one's ear a right side-→ hand-held left side and the right side → loins left side in one's ear;
The described attitude of switching is to the right: the right side of the right side, a hand-held left side → in one's ear, a hand-held left side → loins right side, a loins left side → in one's ear, left → hand-held right side of loins, the in one's ear a left side → hand-held right side and a left side → loins right side in one's ear;
In described Posture exchange process, attitude angle is treated to and utilizes the front attitude angle information reliably of Posture exchange to replace the attitude angle in Posture exchange process, and its technical solution is as follows:
Under the environment without magnetic interference, utilize the mean value of all attitude angle that the sensing data of 0.2s calculates before Posture exchange to replace attitude angle in Posture exchange process; If have magnetic interference in this 0.2s, so just on the basis of this 0.2s, get forward 0.2s sensing data, the like, find the sensing data that does not have noisy 0.2s always.
Initial attitude in described accompanying drawing 2 is resolved and is got by magnetometer and accelerometer, again initial attitude is changed into initial hypercomplex number, later stage employing utilizes previous moment hypercomplex number, gyroscope, accelerometer and magnetometer through EKF(EKF) filtering draws current time hypercomplex number, then utilizes the hypercomplex number of current time to upgrade attitude angle information.But attitude because the data of gyroscope and accelerometer are all incredible, therefore the current hypercomplex number that EKF filtering draws in Posture exchange process is insecure, is also insecure thereby cause attitude angle in handoff procedure.If after Posture exchange, the renewal of attitude angle still utilizes eve hypercomplex number to upgrade current time hypercomplex number, will inevitably cause after Posture exchange the disorder of attitude angle.Because after Posture exchange, current time hypercomplex number still utilizes previous moment hypercomplex number to upgrade, and finally causes the mistake of track.
After described above-mentioned Posture exchange, the renewal technology scheme of hypercomplex number is as follows:
After Posture exchange is stable, first carry out coordinate transform, first accelerometer and magnetometer data after then utilizing Posture exchange stable recalculate attitude angle, then convert attitude angle to hypercomplex number, and later stage attitude angle is upgraded same as above.
Before and after described Posture exchange, fixed pose angular difference is that in different attitude situations, the residing position of portable handheld terminal is different, will cause like this fixed pose angular difference of track existence of track after Posture exchange and Posture exchange;
Described fixed pose angular difference technical solution scheme is as follows:
Before deducting Posture exchange with the attitude angle angle of stablizing after Posture exchange at first, stablize last point attitude angle, be fixed attitude angular difference.After Posture exchange, the attitude angle of renewal all will deduct this fixed pose angular difference.
The attitude angle information calculating according to previous moment hypercomplex number and gyroscope, accelerometer and magnetometer in Posture exchange process is completely disorderly.
Claims (8)
1. autonomous indoor positioning algorithm under full attitude environment, is characterized in that: comprise that pedestrian's attitude that portable handheld terminal may occur in position fixing process differentiates in attitude sorting algorithm after algorithm, Posture exchange process tracking algorithm, Posture exchange, Posture exchange process the location algorithm replacement criteria after attitude angle precision optimizing algorithm and Posture exchange etc.;
Described full attitude refers to, the switching between various attitudes and various attitude that portable set may occur in user's hand;
The described pedestrian attitude that portable handheld terminal may occur in position fixing process is differentiated algorithm and is comprised hand-held Attitude Algorithm, Attitude Algorithm, loins Attitude Algorithm in one's ear;
Described hand-held attitude refers to, portable handheld terminal level is placed on the right hand or left hand;
The described attitude of making a phone call refers to, portable handheld terminal is placed on by auris dextra or left ear;
Described loins attitude refers to, portable handheld terminal is placed in right loins pocket or left loins pocket;
Described Posture exchange process tracking algorithm comprises the tracking to following Posture exchange mode:
Hand-held (left side) → in one's ear (left side), hand-held (left side) → in one's ear (right side), hand-held (left side) → loins (left side), hand-held (left side) → loins (right side), hand-held (right side) → in one's ear (left side), hand-held (right side) → in one's ear (right side), hand-held (right side) → loins (left side), hand-held (right side) → loins (right side), (left side) in one's ear → hand-held (left side), (left side) in one's ear → hand-held (right side), (left side) → loins (left side) in one's ear, (left side → loins (right side) in one's ear, (right side) in one's ear → hand-held (left side), (right side) in one's ear → hand-held (right side), (right side) → loins (left side) in one's ear, (right side) → loins (right side) in one's ear, loins (left side) → hand-held (left side), loins (left side) → hand-held (right side), loins (left side) → (left side) in one's ear, loins (left side) → (right side) in one's ear, loins (right side) → hand-held (left side), loins (right side) → hand-held (right side), loins (right side) → (left side) in one's ear, loins (right side) → (right side) in one's ear,
Attitude after described Posture exchange is categorized as hand-held (left side), hand-held (right side), (left side), (right side), loins (left side) and 6 kinds of Posture exchange modes of loins (right side) in one's ear in one's ear;
Location algorithm replacement criteria after described Posture exchange refers to determine after Posture exchange mode, is updated to location algorithm under corresponding Posture exchange mode.
2. autonomous indoor positioning algorithm under full attitude environment according to claim 1, is characterized in that: under described various attitudes, the thought of location algorithm refers to determining of coordinate transform under different Posture exchanges, i.e. determining of rotation matrix.
3. described in, coordinate transform refers to, under different attitudes, MEMS inertial sensor data is different in carrier coordinate system, at this moment needs again the data transformation of sensor under the carrier coordinate system after Posture exchange.
4. described in, rotation matrix refers to, the tolerance transforming between carrier coordinate system corresponding to different attitudes.
5. autonomous indoor positioning algorithm under full attitude environment according to claim 1, it is characterized in that: described Posture exchange process tracking degree of accuracy depends on choosing of switching condition, selected switching condition is wanted normal turn under Posture exchange and same attitude to be distinguished.
6. autonomous indoor positioning algorithm under full attitude environment according to claim 1, it is characterized in that: after described Posture exchange, attitude classification degree of accuracy is depended on to choosing of switching condition, selected switching condition is wanted normal turn under Posture exchange and same attitude to be distinguished.
7. autonomous indoor positioning algorithm under full attitude environment according to claim 1, it is characterized in that: after described Posture exchange, location algorithm upgrades and refers to the mode of first determining Posture exchange, then location algorithm under corresponding switching mode is switched to current location algorithm.
8. autonomous indoor positioning algorithm under full attitude environment according to claim 1, it is characterized in that: in described Posture exchange process, attitude angle precision optimizing refers to, in Posture exchange process due to gyroscope and, the data of velograph and magnetometer are completely insincere, before the present invention adopts Posture exchange, attitude angle information is optimized processing to the attitude angle in Posture exchange process.
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| CN201410297278.XA CN104154913A (en) | 2014-06-28 | 2014-06-28 | Autonomous indoor positioning algorithm in all-attitude environment |
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| CN201410297278.XA CN104154913A (en) | 2014-06-28 | 2014-06-28 | Autonomous indoor positioning algorithm in all-attitude environment |
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| CN109686031A (en) * | 2018-12-21 | 2019-04-26 | 北京智行者科技有限公司 | Identification follower method based on security protection |
| CN109946731A (en) * | 2019-03-06 | 2019-06-28 | 东南大学 | A kind of highly reliable fusion and positioning method of vehicle based on fuzzy self-adaption Unscented kalman filtering |
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Cited By (4)
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| CN109946731A (en) * | 2019-03-06 | 2019-06-28 | 东南大学 | A kind of highly reliable fusion and positioning method of vehicle based on fuzzy self-adaption Unscented kalman filtering |
| CN109946731B (en) * | 2019-03-06 | 2022-06-10 | 东南大学 | Vehicle high-reliability fusion positioning method based on fuzzy self-adaptive unscented Kalman filtering |
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Application publication date: 20141119 |