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CN-122015809-A - High-precision positioning method and system for personal positioner

CN122015809ACN 122015809 ACN122015809 ACN 122015809ACN-122015809-A

Abstract

The invention discloses a high-precision positioning method and a high-precision positioning system for a personal positioner, which relate to the field of high-precision positioning for the personal positioner and are used for improving positioning precision and reliability, and comprise the steps of acquiring inertial measurement unit data and wireless signal data of the personal positioner; the personal locator is internally provided with a magnetometer, a gyroscope, an accelerometer and a barometer, judges a current user behavior mode and an environment type according to inertial measurement unit data and wireless signal data, adjusts a locating processing mode according to the user behavior mode and the environment type, changes the roles of different wireless signal data in locating, modifies error description parameters of a position estimation program, and generates position information and corresponding credibility according to the adjusted locating processing mode.

Inventors

  • LIAO HONGJUN
  • HE YING

Assignees

  • 深圳市恒越通电子有限公司

Dates

Publication Date
20260512
Application Date
20260331

Claims (10)

  1. 1. A high precision positioning method for a personal locator, comprising: acquiring inertial measurement unit data and wireless signal data of a personal locator, wherein the personal locator is internally provided with a magnetometer, a gyroscope, an accelerometer and a barometer; Judging the current user behavior mode and the environment category according to the inertial measurement unit data and the wireless signal data; adjusting a positioning processing mode according to the user behavior mode and the environment type, wherein the adjustment comprises the steps of changing the roles of different wireless signal data in positioning and modifying error description parameters of a position estimation program; And generating position information and corresponding credibility according to the adjusted positioning processing mode.
  2. 2. The method for high-precision positioning of a personal locator according to claim 1, wherein determining a current user behavior pattern comprises: Determining the step frequency, the step length change rate, the steering frequency, the vertical displacement change rate, the acceleration and the angular velocity in the horizontal direction of a user according to the inertial measurement unit data; When the user walking frequency is in a preset walking frequency range, the step length change rate is smaller than a step length change rate threshold value, and the steering frequency is smaller than a frequency threshold value, determining that the user behavior mode is normal walking; When the step change rate is detected to be larger than the step change rate threshold value within the preset time, determining that the user behavior mode is avoidance or shuttle; And when the duration time length of the vertical displacement change rate larger than the vertical displacement change rate threshold value is longer than the duration threshold value and the acceleration and the angular speed in the horizontal direction are smaller than the preset threshold value, determining that the user behavior mode is an elevator taking mode, wherein the vertical displacement change rate is the change rate of the displacement in the vertical direction with the ground.
  3. 3. The method for locating a person's locator according to claim 1, wherein determining the category of the environment includes: according to the wireless signal data, determining RSSI fluctuation amplitude, signal-to-noise ratio, visible signal source number and MAC address of the wireless signal; Determining that the environment category is a signal sparse environment when the RSSI fluctuation amplitude is larger than a preset fluctuation amplitude or the signal to noise ratio is lower than a preset signal to noise ratio or the number of visible signal sources is smaller than a preset number and the matching rate of the MAC address in a positioning server database is lower than a preset matching rate threshold; Determining the standard deviation of the reading stability of the magnetometer, the integrated heading deviation of the magnetometer and the gyroscope according to the wireless signal data; and determining the environment category as an electromagnetic interference environment under the condition that the standard deviation of the reading stability of the magnetometer is larger than a standard deviation threshold value or the deviation of the heading of the magnetometer and the integral heading of the gyroscope is larger than a deviation threshold value.
  4. 4. The method for positioning a personal locator according to claim 1, wherein the adjusting the positioning process mode according to the user behavior pattern and the environment category comprises: When the user behavior mode is normal, the positioning processing mode is not adjusted; when the user behavior mode is avoidance or shuttling, the weights of accelerometer and gyroscope data in course and displacement estimation are reduced, the sensitivity to instantaneous zero-speed update or zero-angle speed update is increased, and covariance of attitude estimation in a filtering program is enlarged; when the user behavior mode is that the user takes an elevator, the weight of the barometer in vertical positioning is increased, and drift accumulation penalty of horizontal direction inertia calculation is reduced; When the environment category is a signal sparse environment, the measurement noise covariance of the auxiliary positioning signal in the filtering program is increased, and the correction effect of the auxiliary positioning signal on the position estimation is reduced; When the environment category is electromagnetic interference environment, the weight of the magnetometer data in the course estimation is reduced, and the short-time course is maintained by relying on the integration of a gyroscope.
  5. 5. A method of high precision positioning of a personal locator according to claim 1, further comprising: acquiring data measured by a gyroscope in initial inertial measurement unit data, wherein the initial inertial measurement unit data are raw inertial measurement unit data which are not subjected to any processing; determining whether electromagnetic field characteristics of a particular frequency exist; determining whether an angular deviation exists between the gyroscope integral gesture and the accelerometer calculated gesture; inferring that a systematic bias exists for the gyroscope when it is determined that electromagnetic field characteristics of a particular frequency exist and that the angular deviation exists; Estimating the bias of the gyroscope; And subtracting the offset from the gyroscope measured data in the initial inertial measurement unit data to obtain the inertial measurement unit data.
  6. 6. The high-precision positioning method of a personal locator according to claim 5, wherein the offset of the gyroscope satisfies the following relationship: b_g_new=b_g_old+K_bias (delta_heading_error-b_g_old); Wherein b_g_new is the current bias of the gyroscope, b_g_old is the initial bias of the gyroscope, K_bias is a preset adaptive adjustment coefficient, and delta_head_error is the instantaneous deviation between the integrated heading of the gyroscope and the reference heading.
  7. 7. A method of high accuracy locating a person's locator according to claim 5, wherein said determining whether electromagnetic field characteristics of a particular frequency are present comprises: Identifying an energy intensity for a particular frequency range; If the duration time that the energy intensity in the specific frequency range is larger than the preset energy intensity threshold exceeds the preset duration time, judging that the electromagnetic field characteristics exist; and if the energy intensity in the specific frequency range is smaller than or equal to a preset energy intensity threshold value or the duration time that the energy intensity in the specific frequency range is larger than the preset energy intensity threshold value does not exceed the preset duration time, judging that the electromagnetic field characteristic does not exist.
  8. 8. The method for high precision positioning of a personal locator according to claim 1, wherein determining the confidence level comprises: extracting various error characteristics which lead to positioning errors, wherein the error characteristics comprise inertial calculation drift characteristics, wireless signal interference characteristics, magnetic field interference characteristics and vertical displacement error characteristics; Determining an error contribution factor matrix according to the various error characteristics, wherein each element C_ij in the error contribution factor matrix represents the contribution of an ith error source to the uncertainty of a jth state variable, and the state variable comprises position, speed and gesture; and determining the credibility according to the error contribution factor matrix.
  9. 9. The method for high precision positioning of a personal locator according to claim 8, further comprising: Calculating standard deviation of accelerometer data in a preset time window and change rate of angular speed of a gyroscope in the preset time window; Integrating accelerometer data when the standard deviation exceeds a standard deviation threshold and the rate of change is greater than a rate of change threshold, estimating a drift velocity without external correction; the inertial dead reckoning drift characteristic is determined based on a square of the drift velocity.
  10. 10. A high precision positioning system for a personal locator, the system comprising: the system comprises a data acquisition module, a wireless signal acquisition module and a wireless signal acquisition module, wherein the data acquisition module is used for acquiring inertial measurement unit data and wireless signal data of a personal locator; the situation judging module is used for judging the current user behavior mode and the environment category according to the inertial measurement unit data and the wireless signal data; the processing mode adjusting module is used for adjusting a positioning processing mode according to the user behavior mode and the environment type, wherein the adjustment comprises the steps of changing the roles of different wireless signal data in positioning and modifying error description parameters of a position estimation program; and the information generation and evaluation module is used for generating position information and corresponding credibility according to the adjusted positioning processing mode.

Description

High-precision positioning method and system for personal positioner Technical Field The invention relates to the field of high-precision positioning of personal positioners, in particular to a high-precision positioning method and a high-precision positioning system of a personal positioner. Background Conventional existing personal positioners often incorporate multiple technologies in complex urban environments or indoor scenarios in order to provide high-precision positioning services. However, in certain extremely complex urban environments, such as urban canyons in tall buildings, locators face multiple challenges, resulting in severely compromised positioning accuracy and reliability and even potentially misleading location information. In practice, the strength and quality of the gps signal will drop off rapidly or even be lost entirely when the user wearing the locator enters a typical urban canyon area from the open area. At this point, the system will switch to inertial navigation mode based on inertial measurement unit by design and attempt to make secondary corrections using cellular network and Wi-Fi signals. However, the specific movement pattern of the user in an urban canyon may not proceed straight at a steady walking speed, but rather because pedestrians are avoided, through temporarily built obstacles, or frequently quieter, turn around, or even reverse steps in a crowded business area. The highly irregular and nonlinear motion mode constitutes a serious challenge for dead zone estimation accuracy of the inertial measurement unit. Errors inherent in inertial measurement units, such as bias drift of accelerometers and random walk of gyroscopes, accumulate over long or complex movements. When the movement pattern deviates from the "normal walking" model preset by the system, the cumulative speed of these errors increases significantly, resulting in a rapid increase in the deviation between the inertially estimated position and the actual position. A further challenge is that in certain urban canyon areas, not only are global positioning system signals limited, but cellular networks and Wi-Fi signals used to assist in correction may also become abnormally sparse or unreliable. Snowy frosting may cause the user to pass through areas with special electromagnetic environments during movement. Under the superposition of the above-mentioned series of adverse factors, although the design goal of the filtering algorithm inside the positioning system is to fuse the multi-source data and estimate the uncertainty, in such extremely complex scenarios, the error model inside it may not be able to adequately capture all these non-linear and transient disturbances. Eventually, when the guardian or rescuer views the wearer's position through the mobile phone application, they see a piece of positional information reported "confidently" by the system with a high-precision appearance. However, this location information may be far from the actual location of the wearer, and this "high confidence" mislocalization result is more dangerous than being completely impossible to localize, as it misleads the judgment and action of the guardian or rescuer, which may lead to serious consequences in case of emergency. Disclosure of Invention The application discloses a high-precision positioning method and a high-precision positioning system for a personal positioner, which aim to solve the problems that the positioning precision and the reliability are seriously affected and even misleading error position information can be output under the various challenges of limited signals, complex user behavior patterns, electromagnetic interference and the like of the conventional personal positioner in a complex urban environment or an indoor scene. In a first aspect, the application discloses a high-precision positioning method of a personal positioner, comprising the following steps: Acquiring inertial measurement unit data and wireless signal data of a personal locator, wherein the personal locator is internally provided with a magnetometer, a gyroscope, an accelerometer and a barometer; Judging the current user behavior mode and the environment category according to the inertial measurement unit data and the wireless signal data; Adjusting the positioning processing mode according to the user behavior mode and the environment type, wherein the adjustment comprises the steps of changing the roles of different wireless signal data in positioning and modifying error description parameters of a position estimation program; And generating position information and corresponding credibility according to the adjusted positioning processing mode. Optionally, determining the current user behavior mode includes: Determining the step frequency, the step length change rate, the steering frequency, the vertical displacement change rate, the acceleration and the angular velocity of the horizontal direction of a user according to the data