CN106643707A - Indoor blind guiding method for blind person based on intelligent cellphone - Google Patents
Indoor blind guiding method for blind person based on intelligent cellphone Download PDFInfo
- Publication number
- CN106643707A CN106643707A CN201610813946.9A CN201610813946A CN106643707A CN 106643707 A CN106643707 A CN 106643707A CN 201610813946 A CN201610813946 A CN 201610813946A CN 106643707 A CN106643707 A CN 106643707A
- Authority
- CN
- China
- Prior art keywords
- mobile phone
- blind person
- blind
- walking
- acceleration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention discloses an indoor blind guiding method for blind person based on intelligent cellphone, which belongs to the field of personal safety. The method comprises the following steps: recording walking path of blind person, for same initial place and target place, storing no less than 3 paths, recording various barriers and characteristic points along the road, setting priority route; dividing each road to several roads, setting a scaling for each road, setting a next motion on each scaling point, if the scaling is lost or cannot be touched, according to the stored other route, choosing no-obstruction scaling as a substitution from shortest distance on physical space, reprogramming the navigation route according to the path; if the route is outdoor, using an inertial navigation, if is indoor, employing a navigation method combining scaling error correction and terrestrial magnetism calibration. According to the invention, a built-in sensor in the cellphone is used for realizing blind person navigation, practicality is strong, cost is low, and precision is good.
Description
Technical field
The invention belongs to personal safety field, and in particular to blind-guiding method in a kind of blind person room based on smart mobile phone.
Background technology
In recent years developing rapidly for airmanship had enable many people to experience the facility that this technology is brought.But it is raw
There is another kind of people to play a role in their life with greater need for airmanship than normal person in work, that is blind community.
Show that China there are about 17,310,000 visually impaired peoples, and China only exists seeing-eye dog according to an investigation in the end of the year 2014
70 or so.And the training time of each seeing-eye dog is up to 3 years, and training expenses will reach 12～150,000 yuans.And
In daily life, seeing-eye dog can the public space of activity also receive greatly restriction, this cause the popularization of seeing-eye dog into
For a difficult problem.And rare numbers compared to seeing-eye dog and expensive, smart mobile phone is close in the popularity rate of China
70%, and price only thousands of units, therefore replace seeing-eye dog to would is that a good scheme using smart mobile phone.
The present situation and the popularization of smart mobile phone of current blind person, it may be considered that solve these for blind person using mobile phone difficult
Topic.The multiple sensors such as accelerometer, gyroscope are integrated with smart mobile phone.Combined by the data by these sensors, energy
The modes such as inertial navigation and GPS navigation are enough carried out, along with by the calibration of the feature physical quantitys such as earth magnetism, so as to provide room for blind person
Interior navigation Service.On the one hand the identity of blind person can be identified using smart mobile phone, to detect that the mobile phone of blind person goes out
The phenomenon such as active, stolen.On the other hand the positioning of position and leading for path are carried out to blind person for the sensor of smart mobile phone
Boat.Solve the difficult problem for perplexing blind person's trip inconvenience for a long time.
The content of the invention
For when user indoors when, due to the problem that indoor GPS signal can not be received well, the present invention utilizes hand
The acceleration transducer and gyroscope of machine can assist in blind person and carry out path navigation, while being carried for navigation way using earth magnetism fingerprint
For calibration.Realize that technical scheme is as follows：
Blind-guiding method in a kind of blind person room based on smart mobile phone, records first, to same to the walking path of blind person
One origin and objective, path of the storage no less than 3, various roadblocks, characteristic point on the way etc. is write down, and sets
Determine preferential route；If every route is divided into into trunk section, each section is provided with calibration, arranges next in each scaling point
Step action, if calibration is lost or cannot be touched, in other routes according to storage, during distance is most chopped in the physical space
Without hindrance calibration on the way alternatively, and plan navigation circuit again according to the path；
The route, then using inertial navigation, if in interior, is then tied if in outdoor using scaled correction error
Close the air navigation aid that earth magnetism calibration combines.
Further, the orbit generation method of the inertial navigation comprises the steps：
(1) acceleration information is obtained：Mobile phone acceleration sensor records the accekeration of three axles, as：A={ a1,
a2,...,an, and carry out noise reduction and remove gravity process：
Wherein, α ∈ [0,1], i={ 1,2,3 ..., n }, n represents the length for accelerating degree series, and g is gravity；
(2) walking states are judged：In Level Walking motion, vertical and two acceleration that advance can be presented periodically user
Change, in the action that pin is received in walking, upwards single pin contacts to earth center of gravity, and vertical direction acceleration continues afterwards in positive increase
Forward, decentralization bipod is bottomed out, and acceleration is contrary；Horizontal acceleration reduces when pin is received, and increases when taking a step；
(3) calculate step number and generate track：Using the meter step algorithm based on Mealy state machines, added by calculating 3
The size and Orientation of speed, obtains the sinusoidal path of a walking movement；Then carry out peakvalue's checking, by and it is last
The acceleration magnitude of record is compared, if conversely, represent shortly past peak state, carry out meter step, otherwise give up, by right
The accumulation of peak value number of times is obtained user's walking step number；Track is obtained according to the direction of step number, step-length, walking.
Further, the concrete steps of the step (3) include：
1) putting position of calculated direction and mobile phone：Bearing data can be obtained using the direction sensor of mobile phone, direction passes
3 angles that sensor is returned represent that respectively the direction at the top of mobile phone is tilted with the angle of direct north, the top of mobile phone or afterbody
Angle and the angle that tilts of left side or right side, can determine that the putting position of mobile phone using this 3 angles；
2) based on least square method material calculation：The step-length is obtained by the acceleration produced when walking；
3) track is generated：Inertial navigation PATH GENERATION according to the step number of people, step-length, walking direction calculating people's
Position further draws actual motion track：First by starting point (x0,y0) origin is set to, the coordinate of jth step is (xj,yj), then jth
Walking coordinate is：
(xj,yj)=(x0+L cos(φ+γj),y0+L cos(φ+γj))
Wherein, L is step-length, φ by j walk in the direction change sum that occurs, γjRepresent that the direction during jth step becomes
Change；
Further, the step 1) also include the step of correcting：
1. first recorder's horizontal handheld mobile phone in the process of walking when three-axis gyroscope produced by data, using number
High-frequency noise is removed according to superposition, the angular speed change of people's walking in the horizontal direction, as R={ r is thus obtained1,r2,...,
rn}；
2. the direction change that each step occurs is calculated, then the direction change during jth step is：
3. record compass reading in walking process simultaneously, be denoted as：C={ c1,c2,...,cn, data are filtered flat
It is sliding to process；Obtain the direction change between the jth step of compass and jth+k stepsObtain the jth step and the of three-axis gyroscope
Direction change between j+k stepsArrangeAngle threshold, when a threshold is exceeded, using compass jth+k
The direction change of the direction of step jth+k calculated to three-axis gyroscope reading steps is modified, and by revised data
As the direction that people walks in jth+k.
Further, the step 2) concrete steps include：
1. user's acceleration produced when walking to specify step-length is gathered, a is denoted as, corresponding step-length is denoted as l；
2. the variance of acceleration is calculated, s is denoted as；
3. best linear fit is made to s and l using least square method, obtains both relations：
L=(s-q)/p
Wherein, p and q are best linear fit coefficients,WhereinFor the square of multiple repairing weld
Difference,For average step length.
Further, the method for the scaled correction error：If blind person is touched when walking less than calibration, by voice
Input handset, points out not touching calibration；Mobile phone to guardian sends now blind person's location, and guardian recalls ground rapidly
Figure, determines blind person position, instructs blind person to judge；Or blind person seeks help to passerby, by blind person take that mobile phone shows to it is next
Individual scaling position point；Mobile phone records the variation route that blind person is walked simultaneously.
Further, the method for the earth magnetism calibration：
When matching area is moved, Magnetic Sensor gathers field strength values in a series to blind person, after data prediction
Measurement data band is obtained, is designated as:HN=[h1, h2 ..., hN], wherein:H is the sequence of observations, and N is the sampling for once matching
Number, as measures belt length；
Earth magnetism reference information is extracted on geomagnetic chart according to the position of inertial navigation output, earth magnetism reference information is designated as gN=
[g1, g2 ..., gN], wherein gNIt is to refer to value sequence, HNAnd gNIt is corresponding sequence；Within certain time, inertial navigation is set
Output trajectory be parallel with real trace, obtain parallel with the inertial navigation output trajectory tracks of S in region of search, then
Earth magnetism field data is extracted in geomagnetic chart according to S track, S data vector is obtained；These ground of magnetic survey value vector sum
Data vector on magnetic chart carries out related extreme value computing, the final position for determining blind person.
Further, the earth magnetism calibration also includes：To HNCarry out the random disturbances of many secondary control interference strengths, so as to get
Matched position falls around actual position, then takes the mean value of these positions as matched position.
Beneficial effects of the present invention：
1st, navigation mode more meets the walking manner of blind person, is that blind person reduces using difficulty, improves accuracy.
2nd, without the need for high accuracy, expensive inertial sensor, it is only necessary to using sensor built-in in mobile phone, practicality
By force, it is with low cost.
3rd, extra training need not be carried out, it is only necessary to which guardian is using front typing route and voice.
Description of the drawings
Meter step algorithms of the Fig. 1 based on Mealy state machines
Fig. 2 is market simulaed path figure；
Fig. 3 markets simulaed path experimental result picture.
Specific embodiment
The walking path of blind person is recorded first.What blind person typically can fix goes to several oneself haunt,
First guardian walks the general routes passed by ordinary times one time with blind person, and records the paths.To same starting point
Point and objective, store 3 or more paths.As far as possible by various roadblocks, characteristic point on the way, such as where is guardian
Stair, where is in the path that manhole cover etc. all recorded in mobile phone, and according to the index of many aspects judging each bar circuit
Quality, to set preferential circuit.Every stretch journey, guardian arranges a calibration, and (calibration is can be led to by blind person
Cross the object of tactilely-perceptible), while being logged in the next step action in this place.
Assume a kind of situation, if blind person is at present in market, the environment in market is more complicated, at this moment, it is possible to use
The inertial navigation system of mobile phone is positioned, but, when indoors inertial navigation is used alone, it is impossible to which the cumulative errors of elimination are past
Toward making navigation finally to implement, this patent proposes a kind of air navigation aid that earth magnetism calibration is combined based on scaled correction error.I.e.
During using inertial navigation, the feature for carrying out error correction and earth magnetism by the scaling point in path carries out calibration and repaiies
Just.
If occurring in that the situation that calibration is lost or cannot be touched in navigation procedure, can be according to other roads of storage
In footpath, the without hindrance calibration in the most chopped midway of distance alternatively, and plan navigation again according to the path in physical space
Circuit.And using this circuit as later preferential circuit.
The process of implementing includes：
First, navigator fix：
Due to the inconvenience lived, blind person generally can only go to several places of fixation, and in outdoor, powerful GPS can be played
The effect of high-precision navigation, but in view of the error of the 10m scopes of GPS, it is contemplated that the particularity of blind community, therefore combine used
Navigated, using GPS accumulated error amendment is carried out；Indoors, GPS location precision compare it is poor, therefore with inertial navigation
Based on indoor navigator fix, used a kind of inertial navigation localization method of the machine learning based on terrestrial reference amendment.
(1) path of several fixed locations that guardian often goes blind person with blind person at ordinary times first is all walked one time, by road
Footpath seal is recorded in mobile phone, and by the various roadblocks in the paths, such as where has stair, where to have well lid etc., to the greatest extent may be used
Detailed can record various roadblocks, it is contemplated that the particularity of blind community, or even the exponent number of stair is all recorded wherein.Work as place
In outdoor, can directly move GPS carries out path navigation, but also to record the various roadblocks in path, and for example how is where
When this go upstairs, turn round, traffic lights etc.；If in market, it is contemplated that the complexity of environment in market, guardian should be various
Train path under environment, such as when working day people is few, weekend people it is many when etc..External environment in the future can so be avoided
Impact of the change to navigation accuracy.GPS navigation can be utilized in outdoor, but indoors, is needed by means of the biography in mobile phone
Sensor navigates, and here relates to the Track Pick-up of inertial navigation.It is divided into following steps：
1. acceleration information is obtained：When people holds mobile phone carries out Track Pick-up, typically mobile phone is taken, mobile phone adds
Velocity sensor records the accekeration of three axles, as：A={ a1,a2,...,an}.Noise reduction is carried out to mobile phone original acceleration
And removal gravity affects：
Wherein, α ∈ [0,1], i={ 1,2,3 ..., n }, n represents that what accelerates the length of degree series, and g is gravity.
2. walking states are judged：In Level Walking motion, vertical and two acceleration that advance can be presented periodically user
Change, as illustrated, in the action that pin is received in walking, due to center of gravity, upwards single pin contacts to earth, vertical direction acceleration is in just
To increased trend, continue afterwards forward, decentralization bipod is bottomed out, and acceleration is contrary.Horizontal acceleration reduces when pin is received,
Increase when taking a step.
3. step number is calculated：Meter based on Mealy state machines walks algorithm as shown in figure 1, including as follows：
In walking movement, the acceleration produced by vertical direction and walking direction substantially lists one with the relation of time
Sine curve, and peak value occurs on certain point, by detection and calculating to peak value, and by the value and threshold value of acceleration
It is compared and decision-making, it is possible to judge the ambulatory status of user.
Because the uncertainty of mobile phone location is placed in the impact of multiple factors, user, lead to not determine the placement of mobile phone
Direction, is to solve problems, first by calculating the size and Orientation of 3 acceleration, so as to obtain a walking fortune
Dynamic sinusoidal path.Then peakvalue's checking is carried out, by being compared with the acceleration magnitude of last record, if phase
Instead, represent shortly past peak state, then carry out meter step, otherwise give up.User's walking step is obtained by the accumulation to peak value number of times
Number.And because handheld device has some low amplitudes and quick twitch state, or our own hand shaking, to these institutes
The interference data of meaning are rejected.Can be by disturbing data to judge to filter to detection plus upper threshold value and cadence.Finally obtain
The time stamp T of each step of user.Concrete steps include：
(1) calculated direction：Bearing data, 3 angles that direction sensor is returned can be obtained using the direction sensor of mobile phone
Spend the angle and left side or the right side for representing that the direction at the top of mobile phone is tilted with the angle of direct north, the top of mobile phone or afterbody respectively
The angle that side tilts, using this 3 angles the putting position of mobile phone is can determine that.But now due to external environment condition interference and
Three-axis gyroscope catches the noise produced during data, causes the acceleration information that three-axis gyroscope catches to there is deviation, now needs
To be corrected by other sensors.
Aligning step is as follows：
1. first recorder's horizontal handheld mobile phone in the process of walking when three-axis gyroscope produced by data, using number
High-frequency noise is removed according to superposition.Thus the angular speed change of people's walking in the horizontal direction, as R={ r are obtained1,r2,...,
rn}。
2. the direction change that each step occurs is calculated, then the direction change during jth step is：
3. record compass reading in walking process simultaneously, be denoted as：C={ c1,c2,...,cn, data are filtered flat
It is sliding to process；Obtain the direction change between the jth step of compass and jth+k stepsObtain the jth step and the of three-axis gyroscope
Direction change between j+k stepsArrangeAngle threshold, when a threshold is exceeded, using compass jth+k
The direction change of the direction of step jth+k calculated to three-axis gyroscope reading steps is modified, and by revised data
As the direction that people walks in jth+k.
(2) based on least square method material calculation：In inertial navigation, the distance of motion is multiplied gained by step number with step-length,
Therefore, the precision of inertial navigation is all had a great impact per the degree of accuracy long step by step.Step-length when wherein people walks can be by
Produced acceleration during walking is estimated.
Step is as follows:
1. user's acceleration produced when walking to specify step-length is gathered, a is denoted as, corresponding step-length is denoted as l.
2. the variance of acceleration is calculated, s is denoted as.
3. best linear fit is made to s and l using least square method, obtains both relations：
L=(s-q)/p (3)
Wherein, p and q are best linear fit coefficients,WhereinFor the square of multiple repairing weld
Difference,For average step length.
(3) track is generated：Inertial navigation PATH GENERATION according to the step number of people, step-length, walking direction calculating people
Position.First according to the coordinate (x of starting point0,y0) it is origin, the coordinate of jth step is (xj,yj), then jth step coordinate is：
(xj,yj)=(x0+L cos(φ+γj),y0+L cos(φ+γj)) (4)
Wherein, L is step-length, φ by j walk in the direction change sum that occurs.Finally show that actual motion track is led
Boat.
There is the situation of larger accumulated error in view of above-mentioned inertial navigation, now can be by arranging scaling point to by mistake
Difference is modified.Assume that blind person reaches second ground from first, altogether 20m, in this section of path, can be by being configured one per 5m
Individual calibration, arranges 4 calibrations altogether.The calibration of setting is all relatively common, such as balustrade, pillar, desk etc., allows blind person
These calibrations are touched, if touched, blind person is illustrated in that section of set route, now blind person represents touching by voice
To calibration, prompting mobile telephone set carries out the navigation of next calibration；If touching is less than illustrating because accumulated error is larger, blind person
Have deviated from script path, it is also possible to which the calibration for recording before is removed for some reason, and now, blind person carries out voice
Input prompting does not touch set calibration, and mobile phone is received after voice, is judged rapidly, sends now blind to guardian
People's location, guardian recalls rapidly map, determines blind person position, instructs blind person to judge；Can also be by seeking help
Passerby, blind person is taken to the next calibration shown on mobile phone.Every time mobile phone all in real time records the path that blind person passes by
Come, repeatedly after record, with the increase of the number of paths recorded in mobile phone, the precision of navigation is also greatly improved.Root
According to appeal Track Pick-up process, under trajectory path all real time records in the place that blind person was possible in actual life
Come.Next the i.e. matching of realizing route.As shown in Fig. 2 simulating the path in market, dotted line represents the path that recorded in mobile phone
Figure.Annular ring represents calibration, by calibrating the correction to carry out current location.When blind person starts navigation, mobile phone is carried out
Remind in real time, if matched with pre-determined route, and successfully arrive at calibration, then navigate successfully, by that analogy, complete final
The navigation of path.Because the complexity of external environment so that each time mobile phone record path all can some deviations, therefore
The route for successfully navigating each time all will be recorded in mobile phone, as shown in Fig. 2 red path, black path have differences, but
Can successfully navigate, this two paths all recorded in mobile phone, repeatedly after, the route in mobile phone gradually enriches.Navigation
Precision also will be greatly enhanced.
2nd, earth magnetism calibration
The correlation technique principle of 2.1 geomagnetic matchings
When matching area is moved, Magnetic Sensor gathers field strength values in a series to blind person by certain time interval,
Measurement data band is obtained after data prediction, is designated as:HN=[h1, h2 ..., hN], wherein:H is the sequence of observations, and N is
The number of samples for once matching, also referred to as measures belt length (or matching length), determines the characteristics of its value size is by earth's magnetic field.Work as magnetic
During the abundant information of field, N can suitably take less；When Magnetic Field lean reactive volt-ampere hour, N should take greatly.According to the position of inertial navigation output
Earth magnetism reference information is extracted on geomagnetic chart, earth magnetism reference information is designated as gN=[g1, g2 ..., gN], wherein gNFor reference value sequence
Row, HNAnd gNIt is corresponding sequence.Within the section time, it is assumed that the output trajectory of inertial navigation is parallel, this hypothesis with real trace
Within the section time rationally.In region of search, can obtain S (value of S according to actual conditions determine, when geomagnetic field variation it is very big
When take it is big a bit, take when varying less a little bit smaller) the individual track parallel with inertial navigation output trajectory, further according to S track in earth magnetism
Earth magnetism field data is extracted in figure, S data vector is obtained.Data vector on magnetic survey value vector sum these geomagnetic charts is entered
Row correlation extreme value computing, it may be determined that the position of sail body.Related extreme value computing in text adopts mean square error (MSD), search
The S data vector obtained in region calculates respectively mean square error J with observation vectorMSD, the J of minimumMSDCorresponding i.e. conduct
Matched position.
The 2.2 geomagnetic matching algorithms based on Monte Carlo methods
Due to including various error components in the measured value of geomagnetic field survey instrument, the position for matching according to the method described above is often not
It is the actual position of sail body, but positioned at the vicinity of actual position.Due to the randomness of measure error, matched position is true
Distribution around position is also random.Therefore to HNCarry out the random disturbances of many secondary control interference strengths, so as to get matching
Position falls around actual position, then takes the mean value of these positions as matched position, it is possible to reduce error.The method and
The principle of Monte Carlo methods is similar.
Thus the problem of key is the intensity for how determining random disturbances.After the completion of assuming once to search for, minimum index
It is worth for JMIN, and corresponding index is J at actual positionREAL, it is clear that there is JREAL≥JMIN, and JMINCan match as this is weighed
During error aggregate level an index.If to measuring geomagnetic data value vector HNIn addition with JMINCertain related width
Vectorial H ' is obtained after the white noise random disturbances of degreeN, with H 'NAfter once being searched in region of search, if after search most
Little finger of toe is designated as J 'MIN, and meet condition " JMIN<J′MIN<ηJMIN(η ＞ 1) ", then the position that intuitively new search is arrived is closer to very
Real position, so as to obtain based on the geomagnetic matching algorithm of Monte Carlo methods.Specifically：
1) in current matching moment t, surveyed with the magnetic survey value composition at current time magnetic survey value and front N-1 moment
Amount geomagnetic data vector HN。
2) region of search is determined according to inertial navigation indicating positions, calculate in region of search S data correspondingly on geomagnetic chart to
Amount gN, and successively as the column vector of a matrix P.
3) desired value of minimum is searched in matrix P by formula (1), the minimum of a value is recorded for JMIN0, it correspondence vector position
Put (m '0,n′0)。
4) circulation is to HNRandom disturbances several times are carried out, all matchings for meeting specified conditions are counted.
When i is count down to, m is rememberedi=m ', ni=n ', end loop when predetermined constant R is count down to.Will be all full
The coordinate arrangement of sufficient above-mentioned condition is into vector:
Yλ=[m1,m2,…,mR]
5) amount of orientationYλAverage as final matched position coordinate.
2.3, in order to verify the feasibility of the algorithm, have carried out l-G simulation test, as shown in Figure 3 to the algorithm.Can be with by result
Find out:The algorithm can effectively correct the error of inertial navigation, can improve the precision of inertial navigation.
The a series of detailed description of those listed above is only for the feasibility embodiment of the present invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included within the scope of the present invention.
Claims (8)
1. blind-guiding method in a kind of blind person room based on smart mobile phone, it is characterised in that the walking path of blind person is carried out first
Record, to same origin and objective, path of the storage no less than 3, by the note such as various roadblocks, characteristic point on the way
Get off, and set preferential route；If every route is divided into into trunk section, each section is provided with calibration, in each calibration
Point arrange next step action, if calibration lose or cannot touch, according to storage other routes in, in physical space away from
From the without hindrance calibration in most chopped midway alternatively, and planning navigation circuit again according to the path；
The route if in outdoor, then using inertial navigation, if in interior, then using scaled correction error in combination
The air navigation aid that magnetic calibration combines.
2. blind-guiding method in a kind of blind person room based on smart mobile phone according to claim 1, it is characterised in that described used
Property navigation orbit generation method comprise the steps：
(1) acceleration information is obtained：Mobile phone acceleration sensor records the accekeration of three axles, as：A={ a1,a2,...,
an, and carry out noise reduction and remove gravity process：
Wherein, α ∈ [0,1], i={ 1,2,3 ..., n }, n represents the length for accelerating degree series, and g is gravity；
(2) walking states are judged：In Level Walking motion, vertical and two acceleration that advance can be presented and periodically become user
Change, in the action that pin is received in walking, upwards single pin contacts to earth center of gravity, vertical direction acceleration in positive increase, continue afterwards to
Before, decentralization bipod is bottomed out, and acceleration is contrary；Horizontal acceleration reduces when pin is received, and increases when taking a step；
(3) calculate step number and generate track：Using the meter step algorithm based on Mealy state machines, by calculating 3 acceleration
Size and Orientation, obtain a walking movement sinusoidal path；Then peakvalue's checking is carried out, by recording with last
Acceleration magnitude be compared, if conversely, represent shortly past peak state, carry out meter step, otherwise give up, by peak value
The accumulation of number of times is obtained user's walking step number；Track is obtained according to the direction of step number, step-length, walking.
3. blind-guiding method in a kind of blind person room based on smart mobile phone according to claim 1, it is characterised in that the step
Suddenly the concrete steps of (3) include：
1) putting position of calculated direction and mobile phone：Bearing data, direction sensor can be obtained using the direction sensor of mobile phone
3 angles for returning represent respectively the angle that the direction at the top of mobile phone is tilted with the angle of direct north, the top of mobile phone or afterbody
The angle that degree and left side or right side are tilted, using this 3 angles the putting position of mobile phone is can determine that；
2) based on least square method material calculation：The step-length is obtained by the acceleration produced when walking；
3) track is generated：Inertial navigation PATH GENERATION according to the step number of people, step-length, walking direction calculating the position of people
And then draw actual motion track：First by starting point (x0,y0) origin is set to, the coordinate of jth step is (xj,yj), then jth step is sat
It is designated as：
(xj,yj)=(x0+Lcos(φ+γj),y0+Lcos(φ+γj))
Wherein, L is step-length, φ by j walk in the direction change sum that occurs, γjRepresent the direction change during jth step.
4. blind-guiding method in a kind of blind person room based on smart mobile phone according to claim 3, it is characterised in that the step
It is rapid 1) also to include the step of correcting：
1. first recorder's horizontal handheld mobile phone in the process of walking when three-axis gyroscope produced by data, using stacked data
Plus high-frequency noise is removed, thus obtain the angular speed change of people's walking in the horizontal direction, as R={ r1,r2,...,rn}；
2. the direction change that each step occurs is calculated, then the direction change during jth step is：
3. record compass reading in walking process simultaneously, be denoted as：C={ c1,c2,...,cn, data are filtered with smooth place
Reason；Obtain the direction change between the jth step of compass and jth+k stepsObtain the jth step and jth+k of three-axis gyroscope
Direction change between stepArrangeAngle threshold, when a threshold is exceeded, using compass jth+k walk
The direction change of direction jth+k calculated to three-axis gyroscope reading steps be modified, and revised data are made
For the direction that people walks in jth+k.
5. blind-guiding method in a kind of blind person room based on smart mobile phone according to claim 3, it is characterised in that the step
Rapid concrete steps 2) include：
1. user's acceleration produced when walking to specify step-length is gathered, a is denoted as, corresponding step-length is denoted as l；
2. the variance of acceleration is calculated, s is denoted as；
3. best linear fit is made to s and l using least square method, obtains both relations：
L=(s-q)/p
Wherein, p and q are best linear fit coefficients,WhereinFor the mean square deviation of multiple repairing weld,For
Average step length.
6. blind-guiding method in a kind of blind person room based on smart mobile phone according to claim 1, it is characterised in that described fixed
The method of mark round-off error：If blind person is touched when walking less than calibration, by phonetic entry mobile phone, point out not touching
Calibration；Mobile phone to guardian sends now blind person's location, and guardian recalls rapidly map, determines blind person position, instructs
Blind person judges；Or blind person seeks help to passerby, blind person is taken to next scaling position point that mobile phone shows；Mobile phone is simultaneously
The variation route that record blind person is walked.
7. blind-guiding method in a kind of blind person room based on smart mobile phone according to claim 1, it is characterised in that describedly
The method of magnetic calibration：
When matching area is moved, Magnetic Sensor gathers field strength values in a series to blind person, obtains after data prediction
Measurement data band, is designated as:HN=[h1, h2 ..., hN], wherein:H is the sequence of observations, and N is the number of samples for once matching, i.e.,
To measure belt length；
Earth magnetism reference information is extracted on geomagnetic chart according to the position of inertial navigation output, earth magnetism reference information is designated as gN=[g1,
G2 ..., gN], wherein gN is to refer to value sequence, HNAnd gNIt is corresponding sequence；Within certain time, the defeated of inertial navigation is set
It is parallel with real trace to go out track, and in region of search the S track parallel with inertial navigation output trajectory is obtained, further according to
Earth magnetism field data is extracted in S track in geomagnetic chart, obtains S data vector；These geomagnetic charts of magnetic survey value vector sum
On data vector carry out related extreme value computing, the final position for determining blind person.
8. blind-guiding method in a kind of blind person room based on smart mobile phone according to claim 7, it is characterised in that describedly
Magnetic calibration also includes：To HNCarry out the random disturbances of many secondary control interference strengths, so as to get matched position fall in actual position
Around, the mean value of these positions is then taken as matched position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610813946.9A CN106643707A (en) | 2016-09-09 | 2016-09-09 | Indoor blind guiding method for blind person based on intelligent cellphone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610813946.9A CN106643707A (en) | 2016-09-09 | 2016-09-09 | Indoor blind guiding method for blind person based on intelligent cellphone |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106643707A true CN106643707A (en) | 2017-05-10 |
Family
ID=58852160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610813946.9A Pending CN106643707A (en) | 2016-09-09 | 2016-09-09 | Indoor blind guiding method for blind person based on intelligent cellphone |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106643707A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
| CN111065157A (en) * | 2019-12-05 | 2020-04-24 | Oppo广东移动通信有限公司 | Positioning information updating method and device and electronic equipment |
| CN111486844A (en) * | 2020-04-26 | 2020-08-04 | 常州悦美智能科技有限公司 | Indoor navigation construction and use method and application thereof |
| CN114111834A (en) * | 2021-12-07 | 2022-03-01 | 甄十信息科技（上海）有限公司 | Method and device for determining wearable device to leave specific area |
| GB2625404A (en) * | 2021-12-16 | 2024-06-19 | Makesense Tech Limited | Navigation guidance devices |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101532841A (en) * | 2008-12-30 | 2009-09-16 | 华中科技大学 | Method for navigating and positioning aerocraft based on landmark capturing and tracking |
| CN102871825A (en) * | 2012-09-14 | 2013-01-16 | 上海大学 | Navigator for walking of blind persons |
| CN103126862A (en) * | 2013-02-04 | 2013-06-05 | 江苏科技大学 | Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method |
| CN105004340A (en) * | 2015-07-14 | 2015-10-28 | 沈向东 | Inertial navigation-fingerprint location-combined positioning error correction method |
| CN204740030U (en) * | 2015-07-14 | 2015-11-04 | 王剑 | Indoor navigation of blind person |
-
2016
- 2016-09-09 CN CN201610813946.9A patent/CN106643707A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101532841A (en) * | 2008-12-30 | 2009-09-16 | 华中科技大学 | Method for navigating and positioning aerocraft based on landmark capturing and tracking |
| CN102871825A (en) * | 2012-09-14 | 2013-01-16 | 上海大学 | Navigator for walking of blind persons |
| CN103126862A (en) * | 2013-02-04 | 2013-06-05 | 江苏科技大学 | Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method |
| CN105004340A (en) * | 2015-07-14 | 2015-10-28 | 沈向东 | Inertial navigation-fingerprint location-combined positioning error correction method |
| CN204740030U (en) * | 2015-07-14 | 2015-11-04 | 王剑 | Indoor navigation of blind person |
Non-Patent Citations (2)
| Title |
|---|
| 王向磊 等: "地磁匹配导航算法研究", 《测绘工程》 * |
| 王郑合: "基于智能手机的惯性导航轨迹生成算法", 《工矿自动化》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
| CN111065157A (en) * | 2019-12-05 | 2020-04-24 | Oppo广东移动通信有限公司 | Positioning information updating method and device and electronic equipment |
| CN111486844A (en) * | 2020-04-26 | 2020-08-04 | 常州悦美智能科技有限公司 | Indoor navigation construction and use method and application thereof |
| CN111486844B (en) * | 2020-04-26 | 2021-09-17 | 常州悦美智能科技有限公司 | Indoor navigation construction and use method and application thereof |
| CN114111834A (en) * | 2021-12-07 | 2022-03-01 | 甄十信息科技（上海）有限公司 | Method and device for determining wearable device to leave specific area |
| GB2625404A (en) * | 2021-12-16 | 2024-06-19 | Makesense Tech Limited | Navigation guidance devices |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102944240B (en) | A kind of inertial navigation system based on smart mobile phone and method | |
| CN106643707A (en) | Indoor blind guiding method for blind person based on intelligent cellphone | |
| CN107504971A (en) | A kind of indoor orientation method and system based on PDR and earth magnetism | |
| CN103969669B (en) | Running condition detection device, running condition detection method, and recording medium | |
| CN107635204B (en) | Indoor fusion positioning method and device assisted by exercise behaviors and storage medium | |
| US10337884B2 (en) | Method and apparatus for fast magnetometer calibration | |
| CN103765161B (en) | Information processing device and information processing method | |
| CN103069469B (en) | Altitude estimation apparatus, altitude estimation method, and program | |
| CN106574975A (en) | Trajectory matching using peripheral signal | |
| CN105043380A (en) | Indoor navigation method based on a micro electro mechanical system, WiFi (Wireless Fidelity) positioning and magnetic field matching | |
| CN107462260A (en) | A kind of trace generator method, apparatus and wearable device | |
| CN107255474B (en) | PDR course angle determination method integrating electronic compass and gyroscope | |
| CN103718062A (en) | Method for ensuring continuity of service of a personal navigation device and device thereof | |
| CN106248081A (en) | A kind of blind person's indoor navigation method combining Wi Fi auxiliary positioning based on inertial navigation | |
| CN106092095A (en) | A kind of smart phone user indoor orientation method of earth magnetism correction inertial navigation | |
| JP5870817B2 (en) | Information processing apparatus, information processing method, and program | |
| CN106331363B (en) | A method of blind person's identification and guiding guide based on smart phone | |
| CN104266648A (en) | Indoor location system based on Android platform MARG sensor | |
| CN104215240A (en) | Peer-Assisted Dead Reckoning | |
| CN106352885A (en) | Method for planning blind person guidance navigation route based on smart phone | |
| CN104501808A (en) | Path tracking method and device | |
| CN106606407A (en) | High-precision indoor navigation system for blind person | |
| CN107613125A (en) | A kind of method of blind person's identification and guiding guide based on smart mobile phone | |
| CN102487416A (en) | System for combining geomagnetic sensor and handheld equipment or mobile equipment | |
| CN107631735A (en) | One kind is based on mobile phone inertial navigation and RFID blind man navigation methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170510 |
|
| WD01 | Invention patent application deemed withdrawn after publication |