CN107105404A - A kind of pedestrian's indoor orientation method matched based on step-length - Google Patents
A kind of pedestrian's indoor orientation method matched based on step-length Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses a kind of pedestrian's indoor orientation method matched based on step-length, it is related to indoor positioning technologies field.Present invention is generally directed in pedestrian's dead reckoning (PDR) algorithm in indoor positioning research, the problem of traditional step-length model fully can not reflect individual difference, one kind is proposed based on satellite ranging, the method that individual Step database replaces step-length model is set up；It is carrier using smart mobile phone, satellite ranging is applied in outdoor in step-length measuring and calculating, sets up the corresponding relation of friction speed feature and step-length；Indoors, K arest neighbors (KNN) algorithm is improved, real-time step-length matching is carried out to striding, bonding position information calculates the current location of pedestrian.The present invention is directed to individual difference, and no longer using single step-length model, the more traditional step-length model of indoor position accuracy improves a lot.
Description
Technical field
The present invention relates to indoor positioning technologies field, and in particular to a kind of pedestrian indoor positioning side matched based on step-length
Method.
Background technology
With economic society development and smart mobile phone it is highly popular, location Based service increasingly obtained weight
Depending on especially in large complicated indoor environment, such as railway station, airport, large supermarket, hospital region, people take to position
Business has active demand.Passive location method in pedestrian's indoor positioning does not need arranging signal node, and one kind is by inertial navigation
Mechanism introduces mobile device, and another is pedestrian's dead reckoning (PDR, pedestrian dead reckoning) algorithm.
PDR algorithms are calculated according to walked to pedestrian step number, step-length and direction of inertial sensor data, obtain walk away from
From and direction, the key of algorithm is the step-length for estimating pedestrian exactly.Existing step-length model includes being based on cadence and step-length
Between linear relationship step-size estimation model；The non-linear empirical model relevant with minimax acceleration in the cycle of striding；Will
People's walking mode is approximately the single pendulum of a handstand, passes through triangle relation material calculation.Due to different people step-length difference with
People's height, custom, mood etc. have certain relation, above-mentioned linear processes model be difficult reflect Different Individual step-length it is poor
It is different.
The content of the invention
In order to overcome the shortcomings of that above-mentioned step-length model precision when in face of individual difference can not ensure that the invention provides one
Plant the pedestrian's indoor orientation method matched based on step-length.
The present invention is adopted the following technical scheme that：
A kind of pedestrian's indoor orientation method matched based on step-length is more applied to a built-in acceleration meter, magnetometer etc.
In the portable set for planting MEMS sensor, methods described comprises the following steps：
S1, determine based on global position system pedestrian in outdoor initial latitude and longitude information；
S2, pedestrian calculated in outdoor average step length based on satellite ranging；
The characteristic value that strides often walked, the described characteristic value bag that strides are recorded while S3, satellite ranging based on accelerometer
Include the peak acceleration striden in the cycle a Amax, minimum acceleration AminAnd cycle duration T；
S4, the individual Step database for setting up according to the corresponding relation of stride characteristic value and average step length pedestrian；
If pedestrian has m kinds, note D=(d in outdoor speed state1,d2,···,dm) represent m kind friction speed states
Under set of steps, C=(Amax,Amin, T) and the set of the characteristic value that strides is represented, by (C, dj) key-value pair form storage
Data, set up the individual Step database of pedestrian, wherein dj∈D；
After S5, pedestrian get in, the initial latitude and longitude information of pedestrian indoors is determined based on global position system；
S6, the characteristic value that strides based on accelerometer acquisition newly, note
S7, by KNN algorithms, the new characteristic value C that strides that step S6 is obtained*The individual step-length set up with step S4 is special
Levy database to be matched, obtain the corresponding average step length of the new characteristic value that strides；
S8, the direction of travel for determining based on magnetometer pedestrian；
S9, the pedestrian's direction of travel information obtained according to the step S7 pedestrian's average step length information obtained and step S8,
The current location of pedestrian is calculated based on PDR algorithms.
It is preferred that, the specific steps of the step S2 include：
S21, based on global position system measure pedestrian 2 positions of A, B longitude and latitude, utilize formula (1) calculate
Air line distance S between 2 positions.
Wherein (Lng1, Lat1) represents A point longitudes and latitudes, and (Lng2, Lat2) represents the longitude and latitude of B points, a=Lng1-Lng2
For the difference of 2 longitudes, b=Lat1-Lat2 is the difference of 2 latitudes, and 6378137 be earth radius, and unit is rice.
S22, walk to B points from A points in the way of near linear as pedestrian, and keep a kind of speed state as far as possible, utilize
Formula (2) calculates the average step length of this kind of speed state.
Wherein S is the air line distance between the A that the calculating of (1) formula is obtained, 2 points of B, and N strides always for what this process was detected
Number.
It is preferred that, the method matched described in the step S7 is：
S71, utilize formula (3) calculate m medium velocity states in C (i) and C*Between Euclidean distance；
Wherein i=1,2 ..., n
S72, by ascending order to dist (C (i), C*) sequence, find out the corresponding C (i) of minimum range individual k before coming；
S73, (C, d according to storagej) key-value pair searches the corresponding step-length d of this k group C (i)；
The most d values of occurrence number are used as current C in S74, D set*Corresponding step-length.
It is preferred that, in the step S71, in m kind speed states, retain the feature under the n group speed states of interlude
Data are used for matching primitives, wherein n=m × N/3.
It is preferred that, also comprise the following steps between the step S1 and the step S2：
P, whether be effectively stride for detection if striding, is determined as it being then to record longitude and latitude, calculating average step length, and is being striden
Jia 1 on sum；Be determined as it is no, then return again detection stride, until be determined as be.
It is preferred that, detect that the specific method striden is described in step P, striden using Peak Intensity Method detection, peak value size surpasses
Cross threshold value 0.4 for effective peak, shielding is not in the interval peak value of time-wise separation while peak value is detected.
It is preferred that, the step S8's concretely comprises the following steps：
S81, manual correction magnetometer；
S82, whether be effectively stride for detection if striding, is determined as it being that then real-time step-length is matched, and obtains the row of current pedestrian
Walk direction；Be determined as it is no, then return again detection stride, until be determined as be.
The present invention is by adopting the above-described technical solution, have the advantages that：Compared with prior art, it is of the invention
It is actually that the individual with otherness establishes one's own individual Step database, dead reckoning that beneficial effect, which is,
Precision obtains larger raising.
Brief description of the drawings
Accompanying drawing is used for providing the preferred understanding to the present invention, and constitutes a part for specification, the reality with the present invention
Applying example is used to explain the present invention together, is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is overall flow figure of the invention；
Fig. 2 is the test result comparison diagram with existing step-length model.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that the embodiment of the description
It is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The carrier of the present invention is personal smart mobile phone, built-in acceleration meter, a variety of MEMS sensors such as magnetometer.
In outdoor, striden using Peak Intensity Method detection, in order to improve the accuracy rate of detection, only peak value size exceedes threshold value
0.4 can just be judged as effective peak, and the cadence that people walks naturally is between 1-3Hz, and shielding is not while peak value is detected
In the peak value that time-wise separation is interval.
Current smart mobile phone satellite fix precision can reach meter level, therefore the positional information for directly using mobile phone to provide, will
Satellite ranging introduces the step-length measuring and calculating of pedestrian, and then sets up a Step database for belonging to individual.Measure A, the points of B two institute
Longitude and latitude in position, the air line distance S between 2 positions is calculated using formula (1).
Wherein (Lng1, Lat1) represents A point longitudes and latitudes, and (Lng2, Lat2) represents the longitude and latitude of B points, a=Lng1-Lng2
For the difference of 2 longitudes, b=Lat1-Lat2 is the difference of 2 latitudes, and 6378137 be earth radius, and unit is rice.
When pedestrian walks to B points in the way of near linear from A points, and a kind of speed state is kept as far as possible, surveyed in satellite
Away from while detection stride, record the characteristic value that often walks, the average step length of this kind of speed state calculated using formula (2).
Wherein S is the air line distance between the A that the calculating of (1) formula is obtained, 2 points of B, and N strides always for what this process was detected
Number.
Assuming that speed has m kind states, Step includes a peak acceleration A striden in the cyclemax, minimum accelerate
Spend Amin, cycle duration T.I.e. the process of the process Step Database of outdoor satellite ranging, have m × N groups across
Characteristic value collection is walked, while being also the generating process of the characteristic value and step-length corresponding relation striden under m kind speed states.Remember D=
(d1,d2,···,dm) represent set of steps under m kind friction speed states, C=(Amax,Amin, T) and represent the spy that strides
The set of value indicative, by (C, dj) key-value pair form data storage, wherein dj∈D。
After getting in, initial position is provided by satellite positioning information.NoteIt is new for what is detected
The characteristic value collection that strides, m kind speed states represent the existing class of m kinds, and the essence of matching process is to C*Make the mistake of classification
Journey.
The beginning and end stage Step data of pedestrian's walking are simultaneously unstable, fluctuate larger.In order to reduce KNN algorithms
Individual Step database is simplified in amount of calculation, matching process.Experiment shows, only retains area under every kind of speed state
Between i.e. interlude group characteristic can ensure completely matching accuracy rate, remember.Matching algorithm is as follows：
1st, C (i) and C is calculated*Between Euclidean distance dist (C (i), C*), i=1,2 ..., n；
2nd, by ascending order to dist (C (i), C*) sequence, find out the corresponding C (i) of minimum range individual k before coming；
3rd, according to (C, the d of storagej) key-value pair searches the corresponding step-length d of this k group C (i)；
4th, the most d values of occurrence number are used as current C in D set*Corresponding step-length.
Wherein C and C*Euclidean distance dist (C, C*) be
Magnetometer built in smart mobile phone, according to the sensing to earth's magnetic field can indicate in real time mobile phone current top with just
The north to angle, when mobile phone rotates around Z axis, the angle value will change, and this direction will be used as the walking side of pedestrian
To.
In the experiment for this method, outdoor testing location is selected in the open Chinese Academy of Sciences's Hefei intelligent machine of environment
On pavement outside research institute building, speed state elects three kinds of slower speed, normal speed and fast speed, tester's body as
High 178cm, the actual step number under three kinds of speed states controls the step size computation result in 100 steps, obtained to be respectively
0.60m, 0.74m and 0.88m.
Indoor test place is selected in the corridor in intelligent institute building, and measuring distance 50m is calculated in slower speed, just respectively
The distance that constant velocity, fast speed and speed change are walked under this four groups of forms, every group of test 5 times.Respectively with being calculated using formula (4)
Linear step-size estimation model and using formula (5) calculate nonlinear empirical model be compared, test result compares
As shown in Figure 2.
D=a × f+b (4)
Wherein a, b are coefficient, and f is frequency.
Wherein H is coefficient, Amax, AminThe respectively one minimax acceleration that strides in the cycle.
The method of the present invention can be well adapted for the difference of individual, and pedestrian's indoor position accuracy obtains larger raising.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, although with reference to foregoing reality
Apply example the present invention is described in detail, for those skilled in the art, it still can be to previous embodiment
Described technical scheme is modified, or carries out equivalent substitution to which part technical characteristic.All spirit in the present invention
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (7)
1. a kind of pedestrian's indoor orientation method matched based on step-length, a variety of applied to a built-in acceleration meter, magnetometer etc.
In the portable set of MEMS sensor, it is characterised in that methods described comprises the following steps：
S1, determine based on global position system pedestrian in outdoor initial latitude and longitude information；
S2, pedestrian calculated in outdoor average step length based on satellite ranging；
The characteristic value that strides often walked is recorded while S3, satellite ranging based on accelerometer, the described characteristic value that strides includes one
The individual peak acceleration A striden in the cyclemax, minimum acceleration AminAnd cycle duration T；
S4, the individual Step database for setting up according to the corresponding relation of stride characteristic value and average step length pedestrian；
If pedestrian has m kinds, note D=(d in outdoor speed state1,d2,…,dm) represent step-length under m kind friction speed states
Set, C=(Amax,Amin, T) and the set of the characteristic value that strides is represented, by (C, dj) key-value pair form data storage, set up
The individual Step database of pedestrian, wherein dj∈D；
After S5, pedestrian get in, the initial latitude and longitude information of pedestrian indoors is determined based on global position system；
S6, the characteristic value that strides based on accelerometer acquisition newly, note
S7, by KNN algorithms, the new characteristic value C that strides that step S6 is obtained*The individual Step number set up with step S4
Matched according to storehouse, obtain the corresponding average step length of the new characteristic value that strides；
S8, the direction of travel for determining based on magnetometer pedestrian；
S9, the pedestrian's direction of travel information obtained according to the step S7 pedestrian's average step length information obtained and step S8, are based on
PDR algorithms calculate the current location of pedestrian.
2. a kind of pedestrian's indoor orientation method matched based on step-length according to claim 1, it is characterised in that the step
Rapid S2 specific steps include：
S21, based on global position system measure pedestrian 2 positions of A, B longitude and latitude, utilize formula (1) calculate 2 points
Air line distance S between position.
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Wherein (Lng1, Lat1) represents A point longitudes and latitudes, and (Lng2, Lat2) represents the longitude and latitude of B points, and a=Lng1-Lng2 is two
The difference of point longitude, b=Lat1-Lat2 is the difference of 2 latitudes, and 6378137 be earth radius, and unit is rice.
S22, walk to B points from A points in the way of near linear as pedestrian, and keep a kind of speed state as far as possible, utilize formula (2)
Calculate the average step length of this kind of speed state.
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Wherein S is the air line distance between the A that the calculating of (1) formula is obtained, 2 points of B, and N is the sum that strides that this process is detected.
3. a kind of pedestrian's indoor orientation method matched based on step-length according to claim 1, it is characterised in that the step
The method matched described in rapid S7 is：
S71, utilize formula (3) calculate m medium velocity states in C (i) and C*Between Euclidean distance；
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Wherein i=1,2 ..., n
S72, by ascending order to dist (C (i), C*) sequence, find out the corresponding C (i) of minimum range individual k before coming；
S73, (C, d according to storagej) key-value pair searches the corresponding step-length d of this k group C (i)；
The most d values of occurrence number are used as current C in S74, D set*Corresponding step-length.
4. a kind of pedestrian's indoor orientation method matched based on step-length according to claim 3, it is characterised in that the step
In rapid S71, in m kind speed states, the characteristic retained under the n group speed states of interlude is used for matching primitives, wherein n
=m × N/3.
5. a kind of pedestrian's indoor orientation method matched based on step-length according to any one of claim 1 to 4, its feature
It is, also comprises the following steps between the step S1 and the step S2：
P, whether be effectively stride for detection if striding, is determined as it being then to record longitude and latitude, calculating average step length, and in the sum that strides
It is upper Jia 1；Be determined as it is no, then return again detection stride, until be determined as be.
6. a kind of pedestrian's indoor orientation method matched based on step-length according to claim 5, it is characterised in that the step
Detect that the specific method striden is described in rapid P, striden using Peak Intensity Method detection, what peak value size exceeded threshold value 0.4 is effective
Peak value, shielding is not in the interval peak value of time-wise separation while peak value is detected.
7. a kind of pedestrian's indoor orientation method matched based on step-length according to claim 6, it is characterised in that the step
Rapid S8's concretely comprises the following steps：
S81, manual correction magnetometer；
S82, whether be effectively stride for detection if striding, is determined as it being that then real-time step-length is matched, and obtains the walking side of current pedestrian
To；Be determined as it is no, then return again detection stride, until be determined as be.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107632966A (en) * | 2017-09-08 | 2018-01-26 | 歌尔科技有限公司 | Movement locus determines method and electronic equipment |
| TWI706295B (en) * | 2017-11-03 | 2020-10-01 | 大陸商北京嘀嘀無限科技發展有限公司 | System and method for determining a trajectory |
| WO2022237148A1 (en) * | 2021-05-10 | 2022-11-17 | 青岛海尔空调器有限总公司 | Exercise step counting method and apparatus, and air treatment device |
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