CN-122028169-A - Floor universality estimation method based on air pressure sequence analysis

CN122028169ACN 122028169 ACN122028169 ACN 122028169ACN-122028169-A

Abstract

The invention discloses a floor universality estimation method based on air pressure sequence analysis, which relates to the field of indoor positioning, and aims at the problems that a floor air pressure reference is required to be preset or building structure data is depended on in an indoor positioning technical scheme provided by the background technology, and real 'use-as-estimation-as-time' is not realized, the method comprises the following steps of data receiving and validity checking, wherein a server receives an air pressure data packet periodically reported by terminal equipment, and if the latest valid positioning time and the current time are different by more than 30 minutes, the server judges that the air pressure data packet is invalid, and outputs 'unknown floors'; and constructing and filtering an air pressure sequence, namely sorting historical air pressure data according to time, calculating adjacent air pressure difference values, and carrying out anti-shake filtering on the difference values, wherein if the difference values are within +/-3 Pa, the difference values are regarded as noise and do not participate in accumulation. The invention can adapt to different buildings (the layer height is in the range of 3-5 meters) without collecting WiFi hot spot, air pressure reference or building structure data of the target building in advance, and realizes instant estimation.

Inventors

Ye Sixian
HUANG HAOQUAN
YANG FAN
QIAN JIAZHONG
HE YUZHE
XUAN DONG
SHEN QIJING

Assignees

浙江深辰凯动科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251217

Claims (4)

1. The floor universality estimation method based on the air pressure sequence analysis is characterized by comprising the following steps of: Step S1, data receiving and validity checking, wherein a server receives an air pressure data packet periodically reported by terminal equipment, if the last valid positioning time and the current time are different by more than 30 minutes, the air pressure data packet is judged to be invalid, and an unknown floor is output; step S2, air pressure sequence construction and filtering, namely sorting historical air pressure data according to time, calculating adjacent air pressure difference values, and carrying out anti-shake filtering on the difference values, wherein if the difference values are within +/-3 Pa, the difference values are regarded as noise and do not participate in accumulation; Step S3, accumulating the height difference, namely converting the air pressure difference sequence after filtering into a height difference value through an air pressure-height conversion formula, and accumulating to obtain a total height change value H; Step S4, floor height self-adaptive estimation, namely if H is less than 1 meter, floors are unchanged, if H is more than or equal to 1 meter, according to a building common floor height range (3 meters to 5 meters), taking 0.1 meter as a step length to enumerate candidate floor heights F, and selecting F with the smallest remainder as a standard floor height of the current floor; s5, calculating floor variation D according to the accumulated height difference H and the estimated floor height F; Step S6, floor updating, namely setting the current recorded floor as Floorold, and setting the updated floor value as follows: ; And S7, continuously iterating, namely continuously receiving new data by the system, and repeating the steps S2 to S6 to realize floor real-time tracking.
2. The floor universality estimation method based on barometric pressure sequence analysis according to claim 1, wherein the barometric pressure-height conversion formula in the step S3 adopts a linear approximation formula: Wherein the method comprises the steps of The unit is rice; 、 the unit is Pascal (Pa), and the conversion coefficient is about K (0.0084 m/Pa) under standard atmospheric conditions (1013.25 hPa for sea level air pressure and 15 ℃ for temperature) in relation to the local average air pressure and air pressure.
3. The method for estimating floor universality based on barometric pressure sequence analysis according to claim 1, wherein the formula for estimating floor height in step S4 is: Wherein the method comprises the steps of The method is characterized in that the method is used for preparing the high-level-difference-free building block, wherein the high-level-difference-free building block is a candidate layer height value in m, [3.0, 3.1, and 5.0] is a candidate layer height set, the range is 3.0-5.0 m, the step length is 0.1m, 21 candidate values are obtained in total, and H is an accumulated height difference in m.
4. The method for estimating floor universality based on air pressure sequence analysis according to claim 1, wherein the calculation formula of the floor variation in step S5 is as follows: 。

Description

Floor universality estimation method based on air pressure sequence analysis Technical Field The invention relates to the field of indoor positioning, in particular to a floor universality estimation method based on air pressure sequence analysis. Background With the rapid development of wireless positioning technology, global Positioning System (GPS) and WiFi positioning have become mainstream technologies for acquiring position information in outdoor and indoor environments, and the technologies can accurately determine longitude and latitude coordinates of a target on a two-dimensional plane by measuring parameters such as signal strength, arrival time difference and the like, so that the wide demands of navigation, logistics tracking, personnel management and the like are met. However, when the positioning scene is turned from an open area to a complex multi-story building interior, the limitation of the prior art is revealed, the GPS signal is seriously attenuated or even completely disabled in the building, while the positioning core of the positioning technology based on WiFi is constructed based on a two-dimensional plane model although the positioning capability can be provided indoors, the positioning core of the positioning technology is difficult to effectively distinguish the height information by a triangulation positioning method or a fingerprint identification method, so that the resolution of the positioning technology in the vertical direction is extremely low, which means that the system can judge that the target is located in a certain plane area of the building, but cannot determine whether the target is located in a first floor, a second floor or a higher floor. The technical bottleneck severely restricts the deepened application of the location service in the multi-layer building, for example, in a large-scale market, store preferential information of the floor where the location service is located cannot be accurately pushed to customers, in an intelligent warehouse, the inventory of different goods shelf levels is difficult to manage, under an emergency rescue scene, firefighters or security personnel cannot quickly lock the specific floors of trapped personnel or help seekers, precious opportunities are lost, and even in daily life, the situation that the plane position of the lost pets or families is known is faced, but the upper and lower floors are not known is avoided. The existing indoor positioning technology (such as WiFi positioning and Bluetooth beacon) depends on pre-acquired floor environment data, so that the problems of high deployment cost, poor scene adaptability, incapability of being general across buildings and the like exist, the scheme of combining the air pressure sensor in the prior art still needs to preset floor air pressure references or depends on building structure data, and the real 'use-as-a-estimation' is not realized, so that a floor dynamic identification method with strong generalization capability without pre-acquisition is needed. Disclosure of Invention The invention provides a floor universality estimation method based on air pressure sequence analysis, which solves the problems that an indoor positioning technical scheme in the prior art needs to preset floor air pressure references or depends on building structure data, and the real 'use and estimation' is not realized. In order to achieve the above purpose, the present invention adopts the following technical scheme: a floor universality estimation method based on barometric pressure sequence analysis comprises the following steps: Step S1, data receiving and validity checking, wherein a server receives an air pressure data packet periodically reported by terminal equipment, if the last valid positioning time and the current time are different by more than 30 minutes, the air pressure data packet is judged to be invalid, and an unknown floor is output; step S2, air pressure sequence construction and filtering, namely sorting historical air pressure data according to time, calculating adjacent air pressure difference values, and carrying out anti-shake filtering on the difference values, wherein if the difference values are within +/-3 Pa, the difference values are regarded as noise and do not participate in accumulation; Step S3, accumulating the height difference, namely converting the air pressure difference sequence after filtering into a height difference value through an air pressure-height conversion formula, and accumulating to obtain a total height change value H; Step S4, floor height self-adaptive estimation, namely if H is less than 1 meter, floors are unchanged, if H is more than or equal to 1 meter, according to a building common floor height range (3 meters to 5 meters), taking 0.1 meter as a step length to enumerate candidate floor heights F, and selecting F with the smallest remainder as a standard floor height of the current floor; s5, calculating floor variation D according