Title:
METHOD AND SYSTEM FOR INDOOR POSITIONING
Document Type and Number:
WIPO Patent Application WO/2018/018994
Kind Code:
A1
Abstract:
A method for indoor positioning comprises: distributing a plurality of particles surrounding a positioning target to form a first particle set; using a particle filter and an indoor geomagnetic map to determine, according to a displacement, a direction, and a magnetic field value received by a monitoring sensor of the positioning target, a first position and a first normalization weight of each of the particles of the first particle set (S101); determining, according to the first normalization weight of each of the particles, a variation step of each of the particles to form a second particle set comprising a plurality of mutated particles respectively having a second position, in which the variation step is inversely proportional to the first normalization weight; determining a second normalization weight of each of the mutated particles of the second particle set (S102); selecting a plurality of particles from the first particle set and the second particle set to form a resampling particle set (S103); and determining, according to the position and the normalization weight of each of the particles of the resampling particle set, an estimated position of the positioning target (S104). The method increases diversity of particles after the resampling, effectively suppresses accumulation of errors, and effectively improves positioning accuracy.
More Like This:
Inventors:
WANG XINHENG (CN)
LIU FUYU (CN)
CHEN TAO (CN)
LIU FUYU (CN)
CHEN TAO (CN)
Application Number:
PCT/CN2017/083982
Publication Date:
February 01, 2018
Filing Date:
May 11, 2017
Export Citation:
Assignee:
CHIGOO INTERACTIVE TECHNOLOGY CO LTD (CN)
International Classes:
G01C21/20
Foreign References:
| CN106289257A | 2017-01-04 | |||
| CN104019813A | 2014-09-03 | |||
| CN105451330A | 2016-03-30 | |||
| CN103925923A | 2014-07-16 | |||
| US20130345967A1 | 2013-12-26 |
Other References:
LIU, FUYU ET AL.: "Evolutionary strategy for elimination of accumulated errors in positioning system based on particle filter", JOURNAL OF NANJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS ( NATURAL SCIENCE EDITION, vol. 37, no. 2, 30 April 2017 (2017-04-30), ISSN: 1673-5439
ZHANG, CONGCONG: "Simultaneous localization and mapping based on indoor magnetic anomalies", CHINESE JOURNAL OF SCIENTIFIC INSTRUMENT, vol. 36, no. 1, 31 January 2015 (2015-01-31), ISSN: 0254-3087
DANG, LING: "A particle filter algorithm based on adaptive evolution strategies sampling", SHIP SCIENCE AND TECHNOLOGY, vol. 34, no. 3, 31 March 2012 (2012-03-31), ISSN: 1672-7649
ZHANG, CONGCONG: "Simultaneous localization and mapping based on indoor magnetic anomalies", CHINESE JOURNAL OF SCIENTIFIC INSTRUMENT, vol. 36, no. 1, 31 January 2015 (2015-01-31), ISSN: 0254-3087
DANG, LING: "A particle filter algorithm based on adaptive evolution strategies sampling", SHIP SCIENCE AND TECHNOLOGY, vol. 34, no. 3, 31 March 2012 (2012-03-31), ISSN: 1672-7649
Attorney, Agent or Firm:
SBZL IP LAW OFFICE (CN)
Download PDF: