CN110426040A - Indoor pedestrian's localization method with non line of sight identification function - Google Patents

Indoor pedestrian's localization method with non line of sight identification function Download PDF

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Publication number
CN110426040A
CN110426040A CN201910608959.6A CN201910608959A CN110426040A CN 110426040 A CN110426040 A CN 110426040A CN 201910608959 A CN201910608959 A CN 201910608959A CN 110426040 A CN110426040 A CN 110426040A
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pedestrian
measured
moment
displacement
sight
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李文广
李建增
史云飞
李永科
胡永江
李爱华
褚丽娜
马朝阳
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Army Engineering University of PLA
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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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • 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
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0215—Interference
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
    • 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
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
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Abstract

The present invention relates to a kind of indoor pedestrian's localization method with non line of sight identification function, ultra wide band (Ultra-Wide Band is used for interior, UWB) technological orientation is vulnerable to non line of sight (Non line-of-sight, NLOS the problem of) interference and ins error dissipate at any time, it is proposed a kind of time of arrival (toa) (Time of Arrival,) and the indoor positioning algorithms that combine of pedestrian's dead reckoning (Pedestrian Dead Reckoning, PDR) TOA.UWB signal is in sighting distance (Line-of-sight, LOS positioning accuracy is high under the conditions of), it intervenes Inertial Measurement Unit IMU when detection is in NLOS, is combined with TOA positioning, inertial parameter and posture information are provided in a short time, PDR calculating is carried out in conjunction with pedestrian's walking rule, eliminating UWB signal multipath effect and NLOS influences, and reduces accumulated error, and use particle filter (Particle Filter, PF) data are handled, exceptional value is screened.The results showed that comparing other algorithms, algorithm proposed by the present invention can effectively improve positioning accuracy when pedestrian is in the case where being in NLOS.

Description

Indoor pedestrian's localization method with non line of sight identification function
Technical field
The present invention relates to indoor positioning field more particularly to a kind of indoor pedestrian positioning sides with non line of sight identification function Method.
Background technique
In outdoor environment, global positioning system (Global Positioning System, GPS) is generallyd use to mesh Mark is positioned.But since indoor environment is increasingly complex than outdoor, the blocking of barrier (such as wall and cabinet) be will cause The multipath and NLOS effect of satellite-signal, and then cause position error larger, it is not able to satisfy the requirement of indoor positioning, therefore need The pedestrian target under indoor environment is positioned using other location technologies.Currently, UWB technology is that one kind has prospect very much Indoor positioning technologies, the common localization method based on UWB technology have TOA, angle of arrival (Direction Of Arrival, DOA), reaching time-difference (Time Difference of Arrival, TDOA) and received signal strength (Received Signal Strength, RSS) and their hybrid parameter localization method.
TOA positioning has the characteristic of high temporal resolution, and positioning accuracy can reach Centimeter Level.To the unknown mesh of dynamic When mark is positioned, due to using single method to be positioned, there can be respective advantage and disadvantage, so being often used UWB and pedestrian Dead reckoning (Pedestrian Dead Reckoning, PDR) carries out alignment by union.TOA is to utilize polygon measuring principle, I.e. according to Distance positioning object.It, can be by measuring the transmitting terminal from signal for the signal with known signal spread speed (referred to as label) comes the distance between calculation base station and label to receiving end (referred to as base station) elapsed time.When label and base Direct propagation path between standing does not have any barrier to block, i.e., in the case of sighting distance, error is smaller.But work as direct road When interference of the diameter by barrier, i.e. in the case of NLOS, signal is to have passed through the rear ability such as transmission, reflection and scattering to be received by base station It arrives, there is biggish time delay error at this time, positioning is caused to deviate.PDR is using step-length and fixing by gross bearings, according to from room Interior previously known initial position estimates current position using speed, time and direction, i.e., by utilizing inertial sensor Location estimation is carried out to detect step-length, step number and the direction of travel of people when walking, is realized by IMU.IMU can be with Posture information when by perception carrier movement, calculates velocity information and position with Newtonian mechanics and movement integro-differential equation Information, therefore carrying out positioning using IMU is a kind of lower selection of cost.
IMU is usually made of three axis accelerometer and three-axis gyroscope, has good anti-interference, in addition information update Rate is very high, so there is extraordinary positioning accuracy in a short time, but when being acquired data using IMU, it can be with the time Growth generate cumulative errors, that is, integral operation recurrence, cause big drift.To obtain more accurate positioning, need to it Carry out periodic calibration.Its initial position message must also be given when being positioned using IMU, it in this way could be with other positioning Technical tie-up uses (such as UWB technology).
Chen P etc. proposes a kind of room with error self-correcting function based on human motion symmetry characteristic for merging UWB Interior dynamic positioning method, using Unscented kalman filtering device (Unscented Kalman Filter, UKF) to inertial sensor It is merged with UWB data, UWB positions the error accumulation for overcoming inertial positioning, but this method IMU is intervened always, i.e., Allow there is UWB to correct it, also results in certain error accumulation.Zhang H etc. proposes a kind of using spreading kalman Filter merges the data of IMU and localization by ultrasonic, but it is bigger by the restriction of environment.
Summary of the invention
There is NLOS identification function under a kind of complex environment indoors the technical problem to be solved by the present invention is to propose TOA and the indoor positioning algorithms that blend of PDR.In position fixing process, LOS/ is carried out using the triangle inequality theorem of proposition NLOS identifies.IMU is intervened when detecting pedestrian target and being in NLOS state, combines with TOA positioning, provides in a short time Inertial parameter and posture information carry out PDR calculating in conjunction with pedestrian's walking rule, correct the location information of pedestrian target, eliminate The influence of UWB signal multipath effect and NLOS, reduces accumulated error.
The technical solution adopted by the present invention are as follows:
A kind of indoor pedestrian's localization method with non line of sight identification function, comprising the following steps:
Step 1: pedestrian target to be measured is positioned using time of arrival (toa) method TOA, is obtained to be measured under any time The position coordinates of pedestrian；
Step 2: according to the position coordinates of pedestrian to be measured, the current state of pedestrian to be measured is judged by triangle inequality theorem It is in sighting distance state or non line of sight state；If pedestrian to be measured is in sighting distance state, step 1 is continued to execute；If row to be measured People is in non line of sight state, thens follow the steps three；
Step 3: if pedestrian to be measured is in non line of sight state, joined using IMU inertia measurement instrument and pedestrian's dead reckoning The method for closing positioning, calculates pedestrian to be measured in the displacement Δ S ' of last moment t-1 to current time t；
Step 4: the side exported by the position coordinates of last moment t-1 pedestrian to be measured, displacement Δ S ' and IMU gyroscope To information, the position coordinates of pedestrian to be measured under current time t are recalculated；
Step 5: above step, the location information of the pedestrian to be measured inscribed when being calculated all are repeated, and utilizes particle Filter screens data, removes exceptional value；
Complete to have the indoor pedestrian of non line of sight identification function to position.
Wherein, step 1 specifically includes the following steps:
(101) position coordinates of pedestrian to be measured under any time are set as (x0,y0), the position coordinates of base station are (xi, yi), the actual distance of pedestrian to be measured to i-th of base station is di, 1≤i≤n, n are total number of base, then have:
(102) object to be measured position coordinates are calculated by using the following formula:
Equation all in equation group is subtracted into first equation, obtains following equation group:
Above-mentioned equation group is rewritten as matrix form, then has following form:
Hx=b (5)
The minimum variance solution of matrix equation are as follows:
X=(HTH)-1HTb (6)
The position coordinates of pedestrian to be measured under any time are calculated as a result,.
Wherein, according to the position coordinates of pedestrian to be measured in step 2, working as object to be measured, is judged by triangle inequality theorem Preceding state be in sighting distance state or non line of sight state, specifically includes the following steps:
(201) pedestrian to be measured is obtained in the position coordinates (x of current time t by step 1t,yt), in the position at t-1 moment Coordinate is (xt-1,yt-1), it is (x in the position coordinates at t-2 momentt-2,yt-2)；
(202) according to acceleration analysis and pedestrian to be measured in the position at t-1 and t-2 moment, when calculating pedestrian to be measured from t-1 Carve the distance, delta S for being moved to t moment；
In formula, vt-1It is the speed at t-1 moment,It is the average speed at t-2 to t-1 moment, St-1,t-2It is t-2 to t-1 The moving distance at moment, at-1And at-2The acceleration and the acceleration at t-2 moment at t-1 moment are respectively indicated, t is current time；
(203) pedestrian to be measured is calculated in t moment and base station (xq,yq) the distance between dt, target is in t-1 moment and base station (xq,yq) the distance between dt-1, 1≤q≤n, n are total number of base, and calculation formula is as follows:
(204) lower relationship can be able to by triangle inequality theorem:
ΔS+dt-dt-1> 0 (15)
ΔS+dt-1-dt> 0 (16)
dt+dt-1Δ S > 0 (17)
ΔS-||dt-dt-1| | > 0 (18)
Due to there is measurement error and evaluated error in practice, so formula (18) can be rewritten as:
ΔS-||dt-dt-1| |=Δ S- | | dt+εi+bi-dt-1-Δμt-1| | > 0 (19)
εi+biIt is the measurement error of t moment, Δ μt-1It is the evaluated error of a preceding position；
(205) if formula (18) or formula (19) are set up, pedestrian to be measured is in sighting distance state；Otherwise, pedestrian to be measured is in non- Sighting distance state.
Wherein, step 3 specifically includes the following steps:
(301) according to the movement characteristic of pedestrian to be measured, pedestrian's waist movement model is established；
(302) a cycle pedestrian to be measured displacement S of waist in the horizontal direction in walking is calculatedx；
ΔY1=L1(1-cosδ) (20)
ΔY2=L2(1-cosδ) (21)
Sright=2L1 sinδ (22)
SlefT=2L2 cosδ (23)
It can be obtained by above equation:
Then a cycle walking in waist displacement are as follows:
Sx=Sright+Sleft (26)
The displacement S of waist under total step numberdAre as follows:
In formula, S0For the initial displacement amount of horizontal direction, SrightAnd SleftIt is the right side that pedestrian to be measured, which is respectively indicated, in support leg Inertial Measurement Unit IMU when pedestrian's standing upright is set as single by the displacement that human body is advanced when foot and left foot at a distance from sole Pendulum length is put, wherein L1And L2The pendulum length of single pendulum is inverted when respectively indicating right crus of diaphragm and the support of left foot list foot in traveling process；ΔY1And Δ Y2Respectively indicate minimum and maximum displacement when support leg is right crus of diaphragm and left foot in vertical direction；δ indicates leg in traveling process The maximum angle that portion steps forward, i.e., divide the critical point ground moment between single leg and both legs support, supporting leg with perpendicular to the ground Between included angle；
(303) a cycle pedestrian to be measured displacement S of waist in vertical direction in walking is calculatedy；
For pedestrian to be measured in each traveling gait, the 3-axis acceleration of setting IMU output is respectively ax_i, ay_i, az_i, three Axis angular rate is respectively ωx_i, ωy_i, ωz_i, wherein i=1,2 ..., N, N are total step number；Supporting leg is hanging down in traveling process The upward angle of histogram is θi, then have:
Wherein, θ0It is θiInitial value, Δ T be IMU sampling time interval, utilize θiConvert it to horizontal and vertical side Upwards, then have:
Wherein, axiAnd ayiAcceleration value respectively in traveling process in the horizontal and vertical directions, g are gravity acceleration Degree；
Setting pedestrian to be measured most is initially static, i.e. θ0=0, integrated to obtain the speed in vertical direction to acceleration Degree:
It utilizes " zero-velocity curve ZUPT " to correct principle, obtains vy0It is zero, by carrying out the speed in IMU vertical direction into one Integral operation is walked, its displacement in vertical direction is obtained:
Wherein, Sy0For the initial displacement of ZUPT moment in vertical direction, it is set to zero；It asks in each step with ZUPT On the basis of moment, real-time displacement SyiMaximin, Δ Y can be acquired1、ΔY2.With this, when obtaining one section by formula (27) Between one skilled in the art total displacement.
The present invention compared with prior art the advantages of are as follows:
The present invention, which can eliminate UWB signal multipath effect and NLOS, to be influenced, and accumulated error is reduced.When pedestrian is in non- In the case where sighting distance, positioning accuracy can effectively be improved by comparing other algorithms algorithm of the invention.
Detailed description of the invention
Fig. 1 is pedestrian's waist movement model of the present invention.
Specific embodiment
Explanation is further explained to the present invention with reference to the accompanying drawing.
Step 1: pedestrian target to be measured is determined first with time of arrival (toa) method (Time of Arrival, TOA) The pedestrian position coordinate that some time inscribes can be obtained in position；
(101) position coordinates for assuming that some time inscribes pedestrian to be measured are (x0,y0), to i-th of base station (xi,yi) survey Span is from for d 'i, the actual distance to i-th of base station is di, 1≤i≤n, n are total number of base, then have:
(102) distance d ' is measurediWith actual distance diDifference be distance measuring noises ρi.For the positioning for guaranteeing pedestrian to be measured As a result more accurate, then it requires distance measuring noises to minimize, pedestrian position coordinate to be measured is calculated using following methods:
Equation all in equation group is subtracted into first equation, following equation group can be obtained:
Above-mentioned equation group is rewritten as matrix form, then has following form:
Hx=b (5)
The minimum variance solution of matrix equation are as follows:
X=(HTH)-1HTb (6)
The position coordinates of object to be measured under any time can be calculated as a result,.
Step 2: the current state that pedestrian to be measured is judged by triangle inequality theorem is in sighting distance state or non line of sight State.If pedestrian to be measured is in sighting distance state, continue step 1；If pedestrian to be measured is in non line of sight state, carry out Step 3；
(201) pedestrian to be measured is calculated in the position coordinates (x of t moment by TOA methodt,yt), it is sat in the position at t-1 moment It is designated as (xt-1,yt-1), it is (x in the position coordinates at t-2 momentt-2,yt-2)；
(202) pedestrian to be measured can be calculated from t-1 in the position at t-1 and t-2 moment according to acceleration analysis and pedestrian to be measured Moment is moved to the distance, delta S of t moment；
vt-1It is the speed at t-1 moment,It is the average speed at t-2 to t-1 moment, St-1,t-2It is t-2 to the t-1 moment Moving distance, at-1And at-2Respectively indicate acceleration, the acceleration at t-2 moment at t-1 moment；
(203) pedestrian to be measured is in t moment and base station (xq, yq) the distance between be dt, pedestrian to be measured is in t-1 moment and base Stand (xq,yq) the distance between be dt-1, calculation formula is as follows:
(204) lower relationship can be able to by triangle inequality theorem:
ΔS+dt-dt-1> 0 (15)
ΔS+dt-1-dt> 0 (16)
dt+dt-1Δ S > 0 (17)
ΔS-||dt-dt-1| | > 0 (18)
Due to there is measurement error and evaluated error in practice, so formula (18) can be rewritten as:
ΔS-||dt-dt-1| |=Δ S- | | dt+εi+bi-dt-1-Δμt-1| | > 0 (19)
εi+biIt is the measurement error of t moment, Δ μt-1It is the evaluated error of a preceding position；
(205) if formula (18) or formula (19) are set up, pedestrian to be measured is in sighting distance state.Conversely, pedestrian to be measured is in non- Sighting distance state.
Step 3: if pedestrian to be measured mark is in non line of sight state, the positional data error obtained using TOA technological orientation It is larger, it needs using inertia measurement instrument (Inertial Measurement Unit, IMU) and pedestrian's dead reckoning The method of (Pedestrian Dead Reckoning, PDR) alignment by union calculates pedestrian target at the t-1 moment in t moment Displacement Δ S '；
(301) it is directed to pedestrian movement's feature, establishes pedestrian's waist movement model, as shown in Figure 1.Solid black lines are that pedestrian exists The motion profile of waist in walking process.SrightAnd SleftPedestrian's human body when support leg is right crus of diaphragm and left foot is respectively indicated to advance Displacement.When left foot and right crus of diaphragm are alternately as support leg, the process is repeated constantly periodically to change pedestrian position.
IMU when pedestrian's standing upright is set as single pendulum pendulum length at a distance from sole, wherein L1And L2Respectively indicate right crus of diaphragm and a left side The pendulum length of single pendulum is inverted when foot list foot supports in traveling process；ΔY1With Δ Y2It respectively indicates when support leg is right crus of diaphragm and left foot and hangs down The upward minimum and maximum displacement of histogram；δ indicates the maximum angle that steps forward of leg in traveling process, i.e., in single leg and double Divide the critical point ground moment between leg support, supporting leg and perpendicular to the ground between included angle.
(302) a cycle pedestrian to be measured displacement S of waist in the horizontal direction in walking is calculatedx；
ΔY1=L1(1-cosδ) (20)
ΔY2=L2(1-cosδ) (21)
Sright=2L1 sinδ (22)
SlefT=2L2 cosδ (23)
It can be obtained by above equation:
Then a cycle walking in waist displacement are as follows:
Sx=Sright+Sleft (26)
The displacement of waist under total step number are as follows:
(303) a cycle pedestrian to be measured displacement S of waist in vertical direction in walking is calculatedy；
In each traveling gait, if the 3-axis acceleration of IMU output is respectively ax_i, ay_i, az_i, three axis angular rates point It Wei not ωx_i, ωy_i, ωz_i, wherein i=1,2 ..., N.Ignore pedestrian's wiggly kinetic characteristic during traveling, it is false If the angle of supporting leg in vertical direction is θ in traveling processi, so having:
Wherein, θ0It is θiInitial value, Δ T be IMU sampling time interval.Because IMU acceleration value collected is in machine Observation under body coordinate system, using θiIt converts it on both horizontally and vertically, then has:
Wherein, axiAnd ayiFor the acceleration value in traveling process in the horizontal and vertical directions, g is acceleration of gravity.It is false If pedestrian is most initially static, i.e. θ0=0, acceleration is carried out to integrate the speed in available vertical direction:
Utilize " zero-velocity curve (ZUPT) " amendment principle that will lead in order to improve the computational accuracy of speed and displacement at this time Boat calculating speed resets to zero, or pushes away parameter using non-zero speed as counter come the navigation calculating process before correcting, and can obtain vy0 It is zero.By carrying out further integral operation to the speed in IMU vertical direction, its available displacement in vertical direction Amount:
Wherein, Sy0For the initial displacement of ZUPT moment in vertical direction, zero can be set to；Ask in each step with On the basis of the ZUPT moment, real-time displacement SyiMaximin, Δ Y can be acquired1、ΔY2.With this, one is obtained by formula (27) The total displacement of section time one skilled in the art.
Step 4: by the positioning coordinate of t-1 moment target, the directional information of displacement Δ S ' and IMU gyroscope output, weight It is new to calculate under t moment, the position coordinates of pedestrian target to be measured；
Step 5: repeating above step, after the pedestrian target location information to be measured inscribed when being calculated all, utilizes grain Subfilter screens data, removes individual exceptional values.

Claims (4)

1. a kind of indoor pedestrian's localization method with non line of sight identification function, which comprises the following steps:
Step 1: positioning pedestrian target to be measured using time of arrival (toa) method, obtains pedestrian to be measured under any time Position coordinates；
Step 2: according to the position coordinates of pedestrian to be measured, the current state for judging pedestrian to be measured by triangle inequality theorem is In sighting distance state or non line of sight state；If pedestrian to be measured is in sighting distance state, step 1 is continued to execute；If at pedestrian to be measured In non line of sight state, three are thened follow the steps；
Step 3: if pedestrian to be measured is in non line of sight state, inertia measurement instrument and pedestrian's dead reckoning alignment by union are used Method, calculate pedestrian to be measured in the displacement of last moment to current time；
Step 4: by the position coordinates of last moment pedestrian to be measured, the displacement of last moment to current time and IMU gyroscope The directional information of output recalculates the position coordinates of pedestrian to be measured under current time；
Step 5: repeating above step, and the location information of the pedestrian to be measured inscribed when being calculated all utilizes particle filter Data are screened, exceptional value is removed；
Complete to have the indoor pedestrian of non line of sight identification function to position.
2. a kind of indoor pedestrian's localization method with non line of sight identification function according to claim 1, which is characterized in that Step 1 specifically includes the following steps:
(101) position coordinates of pedestrian to be measured under any time are set as (x0,y0), the position coordinates of base station are (xi,yi), it is to be measured The actual distance of pedestrian to i-th of base station is di, 1≤i≤n, n are total number of base, then have:
(102) it is calculated by using the following formula pedestrian position coordinate to be measured:
Equation all in equation group is subtracted into first equation, obtains following equation group:
Above-mentioned equation group is rewritten as matrix form, then has following form:
Hx=b (5)
The minimum variance solution of matrix equation are as follows:
X=(HTH)-1HTb (6)
The position coordinates of pedestrian to be measured under any time are calculated as a result,.
3. a kind of indoor pedestrian's localization method with non line of sight identification function according to claim 1, which is characterized in that According to the position coordinates of pedestrian to be measured in step 2, judge that the current state of pedestrian to be measured is in view by triangle inequality theorem Away from state or non line of sight state, specifically includes the following steps:
(201) pedestrian to be measured is obtained in the position coordinates (x of current time t by step 1t,yt), in the position coordinates at t-1 moment For (xt-1,yt-1) and the t-2 moment position coordinates be (xt-2,yt-2)；
(202) it calculates pedestrian to be measured in the position at t-1 and t-2 moment according to acceleration analysis and pedestrian to be measured and is moved from the t-1 moment Move the distance, delta S of t moment；
In formula, vt-1It is the speed at t-1 moment,It is the average speed at t-2 to t-1 moment, St-1,t-2It is t-2 to the t-1 moment Moving distance, at-1And at-2The acceleration and the acceleration at t-2 moment at t-1 moment are respectively indicated, t is current time；
(203) pedestrian to be measured is calculated in t moment and base station (xq,yq) the distance between dt, target is at t-1 moment and base station (xq, yq) the distance between dt-1, 1≤q≤n, n are total number of base, and calculation formula is as follows:
(204) lower relationship is able to by triangle inequality theorem:
ΔS+dt-dt-1> 0 (15)
ΔS+dt-1-dt> 0 (16)
dt+dt-1Δ S > 0 (17)
ΔS-||dt-dt-1| | > 0 (18)
Due to there is measurement error and evaluated error in practice, formula (18) are rewritten are as follows:
ΔS-||dt-dt-1| |=Δ S- | | dt+εi+bi-dt-1-Δμt-1| | > 0 (19)
εi+biIt is the measurement error of t moment, Δ μt-1It is the evaluated error of a preceding position；
(205) if formula (18) or formula (19) are set up, pedestrian to be measured is in sighting distance state；Otherwise, pedestrian to be measured is in non line of sight State.
4. a kind of indoor pedestrian's localization method with non line of sight identification function according to claim 1, which is characterized in that Step 3 specifically includes the following steps:
(301) according to pedestrian movement's feature to be measured, pedestrian's waist movement model is established；
(302) a cycle pedestrian to be measured displacement S of waist in the horizontal direction in walking is calculatedx；
ΔY1=L1(1-cosδ) (20)
ΔY2=L2(1-cosδ) (21)
Sright=2L1sinδ (22)
SlefT=2L2cosδ (23)
It can be obtained by above equation:
Then a cycle walking in waist displacement are as follows:
Sx=Sright+Sleft (26)
The displacement S of waist under total step numberdAre as follows:
In formula, S0For the initial displacement amount of horizontal direction, SrightAnd SleftIt is right crus of diaphragm and a left side that pedestrian to be measured, which is respectively indicated, in support leg Inertial Measurement Unit IMU when pedestrian's standing upright is set as single pendulum pendulum by the displacement that human body is advanced when foot at a distance from sole It grows, wherein L1And L2The pendulum length of single pendulum is inverted when respectively indicating right crus of diaphragm and the support of left foot list foot in traveling process；ΔY1With Δ Y2Point Not Biao Shi support leg be right crus of diaphragm and left foot when vertical direction on minimum and maximum displacement；δ indicate traveling process in leg to Before the maximum angle that steps, i.e. critical point is divided between single leg and both legs support moment, supporting leg and perpendicular to the ground between Included angle；
(303) a cycle pedestrian to be measured displacement S of waist in vertical direction in walking is calculatedy；
For pedestrian to be measured in each traveling gait, the 3-axis acceleration of setting IMU output is respectively ax_i, ay_i, az_i, three shaft angles Speed is respectively ωx_i, ωy_i, ωz_i, wherein i=1,2 ..., N, N are total step number；Supporting leg is in Vertical Square in traveling process Upward angle is θi, then have:
Wherein, θ0It is θiInitial value, Δ T be IMU sampling time interval, utilize θiIt converts it on both horizontally and vertically, Then have:
Wherein, axiAnd ayiAcceleration value respectively in traveling process in the horizontal and vertical directions, g are acceleration of gravity；
Setting pedestrian to be measured most is initially static, i.e. θ0=0, integrated to obtain the speed in vertical direction to acceleration:
It utilizes " zero-velocity curve ZUPT " to correct principle, obtains vy0It is zero, by further being accumulated to the speed in IMU vertical direction Partite transport is calculated, its displacement in vertical direction is obtained:
Wherein, Sy0For the initial displacement of ZUPT moment in vertical direction, it is set to zero；
It asks in each step on the basis of the ZUPT moment, real-time displacement SyiMaximum value and minimum value, can acquire support leg for the right side Minimum and maximum displacement Δ Y when foot and left foot in vertical direction1With Δ Y2；A period of time one skilled in the art is obtained by formula (27) Total displacement.
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