Indoor positioning method and indoor positioning system

• US 9,880,008 B2
• Filed: 03/29/2016
• Issued: 01/30/2018
• Est. Priority Date: 01/16/2016
• Status: Active Grant

• Current Assignee: Hon Hai Precision Industry Co., Ltd.
• Original Assignee: Hon Hai Precision Industry Co., Ltd.
• Inventors: Wei, Chung-Che
• Primary Examiner(s): PAIGE, TYLER D
• Application Number:
  US15/083,301
• Publication Number:
  US 20170205238A1
• Time in Patent Office: 672 Days
• Field of Search: 701500
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation

Abstract

The disclosure relates to an indoor positioning method performed by an indoor positioning system installed on an object inside of a building. The indoor positioning system includes a gyroscope, a digital compass, an accelerometer, a distance sensor and a processor; an indoor map of the building is stored in the processor. Dead reckoning is performed to obtain an estimated position of the object on the map. An target area around the estimated position is selected on the map. Several measurements between the object and walls of the building are performed to obtain an actual distance data. The unique point inside the target area which matches the actual distance data is used the actual position of the object.

Claims

1. An indoor positioning method performed by an indoor positioning system, the method comprises the following steps:

step (S10), installing the indoor positioning system on an object inside of a building, wherein the indoor positioning system comprises a gyroscope, a digital compass, an accelerometer, a distance sensor and a processor;

an indoor map of the building is stored in the processor;

step (S11), obtaining an estimated position of the object on the indoor map;

step (S12), selecting a target area on the indoor map, wherein the estimated position is inside the target area;

step (S13), detecting an actual distance data D between the object and an actual wall of the building, wherein the actual distance data D comprises a 1st actual distance D1 along an 1st direction, a 2nd actual distance D2 along a 2nd direction, . . . and an Mth actual distance DM along an Mth direction, M□

2, and M is a positive integer;

step (S14), judging whether there is a unique point inside the target area matches the actual distance data D;

when there is a unique point inside the target area matches the actual distance data D, the unique point is used as an actual position of the object, when there is not a unique point inside the target area match the actual distance data D, go to step (S15); and

step (S15), increasing value of M, and go back to step (S13).

2. The method of claim 1, wherein in step (S11), the obtaining the estimated position of the object comprises dead reckoning.

3. The method of claim 1, wherein in step (S12), a shape of the target area is circular, triangle, rectangle, square or polygon, and the estimated position is a geometrical cente of the target area.

4. The method of claim 1, wherein in step (S12), a speed error of the gyroscope, the digital compass and the accelerometer is v, a direction deviation of the gyroscope, the digital compass and the accelerometer is α

, and the object moves from a starting position to the estimated position along a moving direction within a time t;

two half-lines with the starting position as starting point are defined, and an angle between each of the two half-lines and the moving direction is α

;

a circular having the estimated position as a geometrical center is defined, and a semi-diameter r of the circular satisfies formula;

r=vt; and

a common area of the two half-lines and the circular is defined as the target area.

5. The method of claim 1, wherein in step (S13), when M=2, the 1st direction and the 2nd direction are perpendicular with each other, and at least one of the 1st direction and the 2nd direction is perpendicular with the actual wall of the building.

6. The method of claim 1, wherein in step (S13), when M=4, in a rectangular coordinates system, the 1st direction is +X direction, the 2nd direction is +Y direction, the 3rd direction is −

X direction, and the 4th direction is −

Y direction.

7. The method of claim 1, wherein in step (S13), when M=4, the 1st direction is east, the 2nd direction is north, the 3rd direction is west, and the 4th direction is south;

when 8≧

M>

4, the 5th direction is northeast, the 6th direction is northwest, the 7th direction is southwest, and the 8th direction is southeast.

8. The method of claim 1, wherein in step (S14), the judging whether there is a unique point inside the target area matches the actual distance data D comprises:

step (S141), calculating a map distance data d between a plurality points inside the target area and a map wall of the indoor map, wherein and the map distance data d comprises a 1st map distance d1 along the 1st direction, a 2nd map distance d2 along the 2nd direction . . . and a Nth map distance dN along a Nth direction, M≧

N≧

2, and N is a positive integer;

step (S142), judging whether there is a unique point inside the target area has the map distance data d which matches the actual distance data D by comparing the map distance data d with corresponding one of the actual distance data D;

when there is a unique point inside the target area has the map distance data d which matches the actual distance data D, the unique point is used as the actual position of the object, when there is not a unique point inside the target area has the map distance data d which matches the actual distance data D, go to step (S143);

step (S143), increasing value of N by N=N+1, calculating the Nth map distance dN along the Nth direction, and judging whether there is a unique point inside the target area has the map distance data d which matches the actual distance data D;

when there is a unique point inside the target area has the map distance data d which matches the actual distance data D, the unique point is used as the actual position of the object, when there is not a unique point inside the target area has the map distance data d which matches the actual distance data D, go to step (S144); and

step (S144), judging N<

M or N=M, when N<

M, go back to step (S143), when N=M, go to step (S15).

9. The method of claim 8, wherein in step (S141), an interval H between adjacent two of the plurality points is the same as an accuracy S of the distance sensor.

10. The method of claim 9, wherein in step (S142) and step (S143), the judging whether there is a unique point inside the target area has the map distance data d which matches the actual distance data D comprises judging whether a condition:

|D−

d|≦

S is satisfied, when the condition |D−

d|≦

S is satisfied, a judgement is that there is a unique point inside the target area has the map distance data d which matches the actual distance data D, when the condition |D−

d|≦

S is not satisfied, a judgement is that there is not a unique point inside the target area has the map distance data d which matches the actual distance data D.

11. The method of claim 1, wherein in step (S14), the judging whether there is a unique point inside the target area matches the actual distance data D comprises:

step (S141), calculating a 1st map distance d1 along the 1st direction between each point inside the target area and a map wall of the indoor map, and obtaining a 1st line by connecting all points that satisfies a first condition d1=D1;

step (S142), calculating a 2nd map distance d2 along the 2nd direction between each point inside the target area and the map wall of the indoor map, and obtaining a 2nd line by connecting all points that satisfies a second condition d2=D2;

step (S143), judging whether the 1st line and the 2nd line have a unique common point;

when the 1st line and the 2nd line have a unique common point, the unique common point is used as the actual position of the object, when the 1st line and the 2nd line do not have a unique common point, set N=2 and go to step (S144);

step (S144), increasing value of N by N=N+1, calculating an Nth map distance dN along an Nth direction between each point inside the target area and the map wall of the indoor map, and obtaining a Nth line by connecting all the points that satisfies an Nth condition dN=DN;

judging whether all the 1st line, the 2nd line . . . and the Nth line have a unique common point;

when all the 1st line, the 2nd line . . . and the Nth line have a unique common point, the unique point is used as the actual position of the object, when all the 1st line, the 2nd line . . . and the Nth line do not have a unique common point, go to step (S145); and

step (S145), judging N<

M or N=M, when N<

M, go back to step (S144), when N=M, go to step (S15).

12. The method of claim 1, wherein in step (S14), the judging whether there is a unique point inside the target area matches the actual distance data D comprises:

step (S141), a 1st map wall of the indoor map that is at the 1st direction of the target area is parallel moved distance D1 along an inverse direction of the 1st direction to obtain a 1st moved line, and part of the 1st moved line that is inside the target area is defined as a 1st line;

step (S142), a 2nd map wall of the indoor map that is at the 2nd direction of the target area is parallel moved distance D2 along an inverse direction of the 2nd direction to obtain a 2nd moved line, and part of the 2nd moved line that is inside the target area is defined as a 2nd line;

step (S143), judging whether the 1st line and the 2nd line have a unique common point;

when the 1st line and the 2nd line have a unique common point, the unique common point is used as the actual position of the object, when the 1st line and the 2nd line do not have a unique common point, set N=2 and go to step (S144);

step (S144), increasing value of N by N=N+1, an Nth map wall of the indoor map that is at an Nth direction of the target area is parallel moved distance DN along an inverse direction of the Nth direction to obtain a Nth moved line, and part of the Nth moved line that is inside the target area is defined as a Nth line;

judging whether all the 1st line, the 2nd line . . . and the Nth line have a unique common point;

when all the 1st line, the 2nd line . . . and the Nth line have a unique common point, the unique point is used as the actual position of the object, when all the 1st line, the 2nd line . . . and the Nth line do not have a unique common point, go to step (S145); and

step (S145), judging N<

M or N=M, when N<

M, go back to step (S144), when N=M, go to step (S15).

13. The method of claim 1, wherein in step (S14), the judging whether there is a unique point inside the target area matches the actual distance data D comprises:

step (S141), calculating a 1st map distance d1 along the 1st direction between each point inside the target area and a map wall of the indoor map, and obtaining a 1st line by connecting all points that satisfies a 1st condition d1=D1;

step (S142), calculating a 2nd map distance d2 along the 2nd direction between each point on the 1st line and the map wall of the indoor map;

step (S143), judging whether there is a unique point on the 1st line satisfies d2=D2;

when there is a unique point on the 1st line satisfies d2=D2, the unique point on the 1st line is used as the actual position of the object, when there is not a unique point on the 1st line satisfies d2=D2, set N=2 and go to step (S144);

step (S144), increasing value of N by N=N+1, calculating an Nth map distance dN along an Nth direction between each point that satisfies d(N−

1)=D(N−

1) and the map wall of the indoor map;

judging whether there is a unique point satisfies dN=DN;

when there is a unique point satisfies dN=DN, the unique point is used as the actual position of the object, when there is not a unique point satisfies dN=DN, go to step (S145); and

step (S145), judging N<

M or N=M, when N<

M, go back to step (S144), when N=M, go to step (S15).

14. The method of claim 1, wherein in step (S14), the judging whether there is a unique point inside the target area matches the actual distance data D comprises:

step (S141), a 1st map wall of the indoor map that is at the 1st direction of the target area is parallel moved distance D1 along an inverse direction of the 1st direction to obtain a 1st moved line, and part of the 1st moved line that is inside the target area is defined as a 1st line;

step (S142), calculating a 2nd map distance d2 along the 2nd direction between each point on the 1st line and the map wall of the indoor map;

step (S143), judging whether there is a unique point on the 1st line satisfies d2=D2;

when there is a unique point on the 1st line satisfies d2=D2, the unique point on the 1st line is used as the actual position of the object, when there is not a unique point on the 1st line satisfies d2=D2, set N=2 and go to step (S144);

step (S144), increasing value of N by N=N+1, calculating an Nth map distance dN along an Nth direction between each point that satisfies d(N−

1)=D(N−

1) and the map wall of the indoor map;

judging whether there is a unique point satisfies dN=DN;

when there is a unique point satisfies dN=DN, the unique point is used as the actual position of the object, when there is not a unique point satisfies dN=DN, go to step (S145); and

step (S145), judging N<

M or N=M, when N<

M, go back to step (S144), when N=M, go to step (S15).

15. The method of claim 1, wherein in step (S15), the increasing value of M is performed by M=M+A, and A is a natural number.

16. The method of claim 1, wherein in step (S15), the increasing value of M is performed by M=B×

M, and B is a natural number greater than one.

17. An indoor positioning method performed by an indoor positioning system, the method comprises the following steps:

step (S10), installing the indoor positioning system on an object inside of a building, wherein the indoor positioning system comprises a gyroscope, a digital compass, an accelerometer, a distance sensor and a processor;

an indoor map of the building is stored in the processor;

step (S11), obtaining an estimated position of the object on the indoor map;

step (S12), selecting a target area on the indoor map, wherein the estimated position is inside the target area;

step (S13), detecting an actual distance data D between the object and an actual wall of the building, wherein the actual distance data D comprises a 1st actual distance D1 along a 1st direction, a 2nd actual distance D2 along a 2nd direction, a 3rd actual distance D3 along a 3rd direction . . . and an Mth actual distance DM along an Mth direction, M=4, an angle between adjacent two of the 1st direction, the 2nd direction, the 3rd direction . . . and the Mth direction is α

, and α

=360°

/M;

step (S14), judging whether there is a unique point inside the target area matches the actual distance data D;

when there is a unique point inside the target area matches the actual distance data D, the unique point is used as an actual position of the object, when there is not a unique point inside the target area matches the actual distance data D, go to step (S15); and

step (S15), increasing value of M, and go back to step (S13).

18. An indoor positioning system configured to position an object inside a building, comprising:

a gyroscope, a digital compass, an accelerometer, a distance sensor and a processor;

wherein an indoor map of the building is stored in the processor;

the gyroscope, the digital compass and the accelerometer are configured to obtain an estimated position of the object on the indoor map;

the distance sensor is configured to detect an actual distance data D between the object and an actual wall of the building; and

the processor comprises a correction module configured to correct the estimated position according to the actual distance data D;

wherein an indoor positioning method of the indoor positioning system comprises the following steps;

step (S11), obtaining an estimated position of the object on the indoor map;

step (S12), selecting a target area on the indoor map, wherein the estimated position is inside the target area;

step (S13), detecting an actual distance data D between the object and an actual wall of the building, wherein the actual distance data D comprises a 1st actual distance D1 along an 1st direction, a 2nd actual distance D2 along a 2nd direction, . . . and an Mth actual distance DM along an Mth direction, M□

2, and M is a positive integer;

step (S14), judging whether there is a unique point inside the target area matches the actual distance data D;

when there is a unique point inside the target area matches the actual distance data D, the unique point is used as an actual position of the object, when there is not a unique point inside the target area match the actual distance data D, go to step (S15); and

step (S15), increasing value of M, and go back to step (S13).

19. The indoor positioning system of claim 18, wherein the indoor positioning system consist of the gyroscope, the digital compass, the accelerometer, the distance sensor and the processor.