Navigation and positioning method combining multi-motion feature dead reckoning and acoustic positioning

• Main Authors: YAN SUQING, XU XIAOYUE, FU WENTAO, XIAO JIANMING, JI YUANFA, ZHAO SONGKE, JIA QIANZI
• Format: Patent
• Language: Chinese; English
• Published: 23.02.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention relates to the technical field of indoor positioning, in particular to a multi-motion feature dead reckoning and acoustic positioning combined navigation and positioning method, which comprises the following steps of: firstly, acquiring required data and preprocessing the data; then, a CHAN-Taylor hybrid algorithm is used for carrying out sound signal positioning; in PDR step length estimation, the step length of the first three steps and the maximum value and the minimum value of the acceleration are utilized to obtain the rough estimation value of the step length of the current step, then the peak-valley amplitude difference, the walking frequency, the variance, the average acceleration, the peak mid-value and the trough mid-value are extracted from the acceleration data, the LASSO regression is used to carry out regularization constraint on the six characteristic variables, the rough estimation value of the step length is corrected, and the estimation accuracy of the step length of the curren