阅读说明：本技术 一种磁场定位方法及其系统 (Magnetic field positioning method and system ) 是由 何成材 于 2020-05-29 设计创作，主要内容包括：本发明提供了磁场定位方法及其系统,本发明的磁场定位方法沿着移动主体的动作路径,随移动主体的移动方向,检测动作路径上的复数实时磁场信息；依据复数实时磁场轴向将各个实时磁场信息对应分解出复数实时磁场值,并选取至少一实时磁场轴向对应的至少一实时磁场值；依据各实时磁场信息选取对应的各参考磁场信息,并选取与至少一实时磁场轴向对应的至少一实时磁场值对应的至少一参考磁场轴向对应的至少一参考磁场值；匹配选取的至少一实时磁场轴向对应的至少一实时磁场值与选取的至少一参考磁场轴向对应的至少一参考磁场值,定位移动主体。磁场定位方法及其系统可根据环境中各地磁场,在其他非磁场定位方法无效的情况下,直接提供定位的功能。(The invention provides a magnetic field positioning method and a system thereof, the magnetic field positioning method of the invention detects complex real-time magnetic field information on an action path along the action path of a moving body along the moving direction of the moving body; correspondingly decomposing each real-time magnetic field information into a plurality of real-time magnetic field values according to the plurality of real-time magnetic field axes, and selecting at least one real-time magnetic field value corresponding to at least one real-time magnetic field axis; selecting corresponding reference magnetic field information according to the real-time magnetic field information, and selecting at least one reference magnetic field value axially corresponding to at least one real-time magnetic field; and matching the at least one real-time magnetic field value axially corresponding to the at least one selected real-time magnetic field with the at least one reference magnetic field value axially corresponding to the at least one selected reference magnetic field, and positioning the moving body. The magnetic field positioning method and the system thereof can directly provide the positioning function according to the magnetic fields of various places in the environment under the condition that other non-magnetic field positioning methods are invalid.)

1. A magnetic field positioning method is characterized in that a moving body is positioned by referring to a plurality of reference magnetic field information, the reference magnetic field information comprises a plurality of reference magnetic field values corresponding to a plurality of reference magnetic field axes, and the magnetic field positioning method comprises the following steps:

detecting a plurality of real-time magnetic field information on an action path along the action path of the moving body along a moving direction of the moving body;

correspondingly decomposing each real-time magnetic field information into a plurality of real-time magnetic field values according to a plurality of real-time magnetic field axial directions, and selecting at least one real-time magnetic field value corresponding to at least one real-time magnetic field axial direction;

selecting corresponding reference magnetic field information according to the real-time magnetic field information, and selecting at least one reference magnetic field value axially corresponding to at least one real-time magnetic field value axially corresponding to at least one reference magnetic field value;

and matching the at least one selected real-time magnetic field value axially corresponding to the at least one real-time magnetic field with the at least one selected reference magnetic field value axially corresponding to the at least one selected reference magnetic field to position the mobile body.

2. The magnetic field localization method of claim 1, wherein the real-time magnetic field information on the motion path is detected by detecting the magnetic field of all magnetic objects on the motion path.

3. The method of claim 1, wherein the real-time magnetic field axes and/or the reference magnetic field axes are built-in axes and/or custom axes.

4. The method of claim 1, wherein the step of selecting at least one of the real-time magnetic axes is performed by calculating at least one of the strength, relative variation, and signal-to-noise ratio of the real-time magnetic values corresponding to each of the real-time magnetic axes.

5. The method of claim 4, wherein at least one of the strength, relative variation, and signal-to-noise ratio of the real-time magnetic field values corresponding to each of the real-time magnetic field axes is calculated at one time or continuously.

6. The method of claim 1, wherein the at least one selected real-time magnetic field axis and the at least one selected reference magnetic field axis are aligned by a linear mapping method before the step of matching the at least one selected real-time magnetic field value corresponding to the at least one selected real-time magnetic field axis with the at least one selected reference magnetic field value corresponding to the at least one selected reference magnetic field axis.

7. The magnetic field localization method according to claim 1, wherein the filtering process is performed on the at least one selected real-time magnetic field value corresponding to the at least one real-time magnetic field axis and the at least one selected reference magnetic field value corresponding to the at least one selected reference magnetic field axis before and/or after the step of matching the at least one selected real-time magnetic field value corresponding to the at least one selected real-time magnetic field axis and the at least one selected reference magnetic field value corresponding to the at least one selected reference magnetic field axis.

8. The method according to claim 1, wherein the at least one selected real-time magnetic field value corresponding to the at least one selected real-time magnetic field axis is matched with the at least one selected reference magnetic field value corresponding to the at least one selected reference magnetic field axis by at least one of a dynamic programming algorithm, an artificial intelligence algorithm, a data fusion algorithm, and a mapping algorithm.

9. The magnetic field localization method according to claim 1, wherein a plurality of non-magnetic field information is detected intermittently or continuously in addition to the reference magnetic field information, and after the real-time magnetic field information of the moving body on the motion path is detected, the real-time magnetic field information is directly or indirectly matched with the non-magnetic field information to confirm the corresponding information of the moving body in the non-magnetic field information, and the non-magnetic field information is selected from the group consisting of air pressure information, velocity/acceleration information, angle information, coordinate information, audio information, optical information, image information, radio wave information, and combinations thereof.

10. The magnetic field localization method of claim 9, wherein the real-time magnetic field information is directly or indirectly matched to the non-magnetic field information by at least one of a dynamic programming algorithm, an artificial intelligence algorithm, a data fusion algorithm, a mapping algorithm.

11. The magnetic field localization method according to claim 1, wherein a plurality of reference location information is read intermittently or continuously in addition to the reference magnetic field information, and after detecting the real-time magnetic field information of the mobile body on the motion path, the real-time magnetic field information is directly or indirectly matched with the reference location information to confirm the corresponding information of the mobile body in the reference location information, and the reference location information is selected from the group consisting of magnetic field data, location data, coordinate data, air pressure data, topographic data, radio wave information, and combinations thereof.

12. The method of claim 1, wherein the mobile body is selected from the group consisting of a land vehicle, a water vehicle, an air vehicle, and combinations thereof.

13. A magnetic field positioning system is suitable for positioning a moving body moving in an action path, and takes a plurality of reference magnetic field information stored in an information base as a reference, wherein each reference magnetic field information comprises at least one reference magnetic field value corresponding to at least one reference magnetic field axis, and the magnetic field positioning system comprises:

at least one magnetic field detection module, which is used for detecting a plurality of real-time magnetic field information corresponding to the action path along a moving direction of the moving body on the action path;

the operation module receives the real-time magnetic field information from the magnetic field detection module, correspondingly decomposes each real-time magnetic field information into a plurality of real-time magnetic field values according to a plurality of real-time magnetic field axial directions, selects at least one real-time magnetic field value corresponding to at least one real-time magnetic field axial direction, and matches at least one selected real-time magnetic field value corresponding to at least one selected real-time magnetic field axial direction with at least one selected reference magnetic field value corresponding to at least one selected reference magnetic field axial direction from the information base so as to position the mobile body.

14. The magnetic field localization system of claim 13, wherein the real-time magnetic field axes and/or the reference magnetic field axes are built-in axes and/or custom axes.

15. The system of claim 13, wherein the database further stores at least one non-magnetic field information, the computing module is calibrated with the real-time magnetic field information directly or indirectly to locate the mobile object, and the non-magnetic field information is selected from the group consisting of air pressure information, velocity/acceleration information, angle information, coordinate information, audio information, optical information, image information, radio wave information, and combinations thereof.

16. The system of claim 13, wherein the database further stores at least one reference location information, the computing module is calibrated with the real-time magnetic field information directly or indirectly to locate the mobile object based on the reference location information, and the reference location information is selected from the group consisting of magnetic field data, location data, coordinate data, barometric data, terrain data, radio wave information, and combinations thereof.

17. The system of claim 13, wherein a plurality of the magnetic field detection modules are arranged according to the motion path and/or the moving direction.

18. The system of claim 13, wherein the magnetic field detection module is disposed on the mobile body, the computing module and the information base are selectively disposed on the mobile body or other devices, and the computing module and the information base can be disposed independently or separately.

19. The magnetic field positioning system of claim 13 wherein the direction of movement of the moving body is substantially along a particular path, the particular path including a road, a waterway, and a waterway.

20. The magnetic field positioning system of claim 13, wherein the mobile body is selected from the group consisting of a land vehicle, a water vehicle, an air vehicle, and combinations thereof.

Technical Field

The invention relates to the field of magnetic field positioning, in particular to a magnetic field positioning method and a magnetic field positioning system which take real-time magnetic field information of detected non-resultant vectors as a judgment basis.

Background

With the development of science and technology, the functions of mobile devices such as smart phones and tablet computers are increasing day by day, and through the location mobile Positioning service in the mobile devices, users can determine the current location information, and extend the functions such as route navigation, etc., replacing the traditional requirement that the direction needs to be guided by reading a map, and greatly improving the convenience of modern life.

The known global positioning system relies on the cooperation of satellites, a control station and a receiver to operate smoothly, and the global positioning system adopts a three-dimensional positioning mode, generally needs at least four satellites to operate, and sends electromagnetic wave signals to a receiver on the ground by the satellites, and then calculates the coordinate position of the receiver according to a triangulation principle. However, in real-world environments, there are many interferences, and generally, the distance between a satellite and a receiver is calculated by multiplying the time of the electromagnetic wave transmitted from the satellite to the receiver by the speed of the electromagnetic wave transmitted in vacuum, but when the electromagnetic wave is transmitted to the ionosphere and the troposphere in the atmosphere, the speed and the distance of the electromagnetic wave are affected, and further, errors are generated. In addition, after the electromagnetic wave signal passes through the interference of the atmosphere, before reaching the receiver, the electromagnetic wave signal is also influenced by refraction or reflection of various terrains and ground objects, for example, in the places with shelters or relief of terrains such as cities, elevated roads, piers, tunnels, rooms and the like, the interference of the ground buildings also causes nonlinear propagation of the signal, and certain errors are introduced during calculation, so that the errors in positioning are increased, and the positioning accuracy is influenced.

In the wireless communication positioning, first, a mobile body looks up wireless signals of nearby reference nodes around the mobile body, and collects location-dependent variables (such as receiving time difference, receiving angle, etc.), so as to calculate distances between the mobile body and the reference nodes, and meanwhile, according to the positions between the reference nodes, a cellular positioning method or a triangulation positioning method is used to position the position of the mobile body. Most of wireless communications use a Received Signal Strength Indicator (RSSI) to indicate the Strength of a Received Signal, and calculate the distance between a mobile body and each reference node, however, the RSSI often affects the positioning accuracy thereof by the environment, and the Signal is easily interfered to cause the receiving effect to be poor.

In summary, in the prior art, no matter the GPS system or the wireless communication positioning system, the provided positioning result is not very accurate, and the error often varies from several meters to hundreds of meters according to the measurement under different environments, especially in the area with the shelter or the relief, so that the known positioning technology has the problems of poor accuracy and limited application.

Based on the bottleneck of the prior art, the present invention provides a magnetic field positioning method and system, which has good positioning accuracy even in an area with a shelter or a relief, and overcomes the problem of inaccuracy due to interference from the environment, buildings, shelters, atmosphere or other wireless communication signals in the prior art.

Disclosure of Invention

The invention aims to provide a magnetic field positioning method and a system thereof, which take at least a single axial magnetic field as main positioning information to replace the prior art magnetic field detection technology (such as using a compass to achieve directional positioning) mainly for detecting a resultant vector containing geomagnetism, and particularly in the environment of a large amount of non-geomagnetic magnetic field interference, for example, in the area where a large number of artificial buildings (bridges, buildings … and the like) and equipment with electromagnetic fields (electric poles … and the like) exist, the invention is different from the prior art positioning by using the resultant vector of geomagnetism, and judges the source direction and the position information of the non-geomagnetic magnetic field characteristic by detecting the magnetic field in at least a single axial direction and/or matches the pre-configured magnetic field information to obtain the position of the current mobile body.

The invention aims to provide a magnetic field positioning method and a system thereof, which can accurately confirm the real-time position of a mobile body by detecting magnetic field information such as magnetic field intensity (vector field H) and/or magnetic induction intensity (vector field B), can effectively solve the problem that the positioning accuracy is reduced due to large change range of environmental conditions, interference of shelters, difficulty in identifying height change and the like in most of the conventional positioning methods, and is particularly suitable for positioning roads.

The invention aims to provide a magnetic field positioning method and a system thereof, wherein the detected magnetic field information is continuously changed along with the position, so that under the premise of enough detected magnetic field information quantity, the method for detecting the magnetic field not only can confirm the area of a moving body, but also can accurately position the accurate position of the moving body, thereby providing the positioning effect with higher resolution than the existing positioning method, and in practical application, the moving body can be a road, sea and air transportation tool, such as a vehicle, a ship, a submarine or an airplane, and can also be other movable devices or facilities, such as a slide plate, a paraglider umbrella, a water motorcycle … and the like.

The invention aims to provide a magnetic field positioning method and a system thereof, which further aim at solving the problems of angle difference, background noise and the like possibly existing between a magnetic field detector and an actual magnetic field in practical application, and provide the calculation logics of angle correction, filtering, vector and the like.

The invention aims to provide a magnetic field positioning method and a magnetic field positioning system, which are based on different influence degrees of magnetic fields in different axial directions in different areas on the whole magnetic field, so that a specific first axial magnetic field is selected for matching to improve the magnetic field positioning accuracy; taking rectangular coordinates as an example, three axial magnetic fields (the magnetic fields in each axial direction, that is, the components of the magnetic fields in three axes in physics) are independent from each other, and can be used for determining the direction and position of the non-geomagnetic magnetic field source, and furthermore, after the influence degree of each axial magnetic field is known, weighting of different axial magnetic fields in different degrees can be further performed, so that the obtained magnetic field information can sufficiently reflect the magnetic field characteristics of each position and positioning is performed accordingly; or a plurality of magnetic fields in specific axial directions can be vectorized and then matched. The above-mentioned various information processing methods can be selectively combined to obtain the most suitable result.

The invention provides a magnetic field positioning method, which refers to a plurality of reference magnetic field information to position a moving body, wherein the reference magnetic field information comprises a plurality of reference magnetic field values corresponding to a plurality of reference magnetic field axes, and the magnetic field positioning method comprises the following steps: firstly, detecting a plurality of real-time magnetic field information on an action path along the action path of the moving body along the moving direction of the moving body; secondly, correspondingly decomposing each real-time magnetic field information into a plurality of real-time magnetic field values according to the axial direction of the plurality of real-time magnetic fields, and selecting at least one real-time magnetic field value corresponding to at least one real-time magnetic field axial direction; then, selecting each corresponding reference magnetic field information according to each real-time magnetic field information, and selecting at least one reference magnetic field value axially corresponding to at least one real-time magnetic field; and finally, matching the at least one selected real-time magnetic field value axially corresponding to the at least one real-time magnetic field with the at least one selected reference magnetic field value axially corresponding to the at least one selected reference magnetic field to position the moving body.

Detecting those real-time magnetic field information on the motion path is performed by detecting the magnetic fields of all magnetic objects on the motion path.

The real-time magnetic field axial direction and/or the reference magnetic field axial direction are/is a built-in axial direction and/or a self-defined axial direction.

The step of selecting at least one real-time magnetic field axis is selecting at least one real-time magnetic field axis by calculating at least one of the strength, relative change, signal-to-noise ratio of the real-time magnetic field values corresponding to each real-time magnetic field axis.

In summary, at least one of the strength, the relative change and the signal-to-noise ratio of the real-time magnetic field values corresponding to the axial direction of each real-time magnetic field is calculated at one time or continuously.

To sum up, the signal-to-noise ratio of the real-time magnetic field values corresponding to the respective real-time magnetic field axes is calculated at one time, and then a single real-time magnetic field axis having the largest signal-to-noise ratio is selected.

In summary, the snr of the real-time magnetic field values corresponding to each real-time magnetic field axis is continuously calculated, and one or more real-time magnetic field axes are selected in a fixed or variable manner according to the order of the snr from large to small.

And before the step of matching the at least one real-time magnetic field value corresponding to the selected at least one real-time magnetic field axial direction with the at least one reference magnetic field value corresponding to the selected at least one reference magnetic field axial direction, correcting and selecting the at least one real-time magnetic field axial direction and the at least one reference magnetic field axial direction by using a linear mapping method.

In certain embodiments, the linear mapping method can be implemented by weighting, vector summation, etc., and the various linear mapping methods can be executed separately and simultaneously, and the sequence of executing steps can be adjusted and varied according to actual needs.

Before and/or after the step of matching the at least one real-time magnetic field value axially corresponding to the at least one selected real-time magnetic field with the at least one reference magnetic field value axially corresponding to the at least one selected reference magnetic field, filtering the at least one real-time magnetic field value axially corresponding to the at least one selected real-time magnetic field and the at least one reference magnetic field value axially corresponding to the at least one selected reference magnetic field.

And matching the at least one selected real-time magnetic field value axially corresponding to the at least one real-time magnetic field with the at least one selected reference magnetic field value axially corresponding to the at least one selected reference magnetic field through at least one of a dynamic programming algorithm, an artificial intelligence algorithm, a data fusion algorithm and a map comparison algorithm.

The method comprises the steps of detecting a plurality of pieces of non-magnetic field information intermittently or continuously in addition to the reference magnetic field information, and confirming corresponding information of the moving body in the non-magnetic field information by directly or indirectly matching the real-time magnetic field information with the corresponding non-magnetic field information after detecting the real-time magnetic field information of the moving body on the motion path, wherein the non-magnetic field information is selected from air pressure information, speed/acceleration information, angle information, coordinate information, audio information, optical information, image information, radio wave information and the combination of the air pressure information, the speed/acceleration information, the angle information, the coordinate information, the audio information, the optical information, the image information and the radio wave information.

In summary, the real-time magnetic field information is directly or indirectly matched to the corresponding non-magnetic field information by at least one of a dynamic programming algorithm, an artificial intelligence algorithm, a data fusion algorithm, and a map comparison algorithm.

Reading the plurality of reference position information intermittently or continuously, and matching the real-time magnetic field information with the corresponding reference position information directly or indirectly after detecting the real-time magnetic field information of the mobile body on the action path to confirm the corresponding information of the mobile body in the reference position information, wherein the reference position information is selected from the group consisting of magnetic field data, location data, coordinate data, air pressure data, terrain data, radio wave information and the combination of the above.

In summary, the real-time magnetic field information is directly or indirectly matched to the corresponding reference position information by at least one of a dynamic programming algorithm, an artificial intelligence algorithm, a data fusion algorithm, and a map comparison algorithm.

In addition, the dynamic programming algorithm in the invention can be a dynamic time algorithm, a derivative dynamic programming algorithm …, etc., and the artificial intelligent algorithm can be a Markov chain, an artificial neural network, a decision tree, a support vector machine, a regression analysis, a Belleville network, a Monte Carlo method, a genetic algorithm …, etc. The data fusion algorithm may be, for example, a kalman filter algorithm, a particle filter algorithm, a bayesian filter algorithm …, or the like. The map comparison algorithm may be a point-to-point comparison algorithm, a point-to-curve comparison algorithm, or a curve-to-curve comparison algorithm.

The invention provides a magnetic field positioning system which is suitable for positioning a moving body moving in an action path and takes a plurality of reference magnetic field information stored in an information base as reference, each reference magnetic field information comprises at least one reference magnetic field value corresponding to at least one reference magnetic field axial direction, the magnetic field positioning system provided by the invention comprises at least one magnetic field detection module and at least one operation module, wherein the magnetic field detection module detects a plurality of real-time magnetic field information corresponding to the action path along the moving direction of the moving body in the action path, the operation module is used for receiving the real-time magnetic field information from the magnetic field detection module, correspondingly decomposes each real-time magnetic field information into a plurality of real-time magnetic field values according to the plurality of real-time magnetic field axial directions, selects at least one real-time magnetic field value corresponding to at least one real-time magnetic field axial direction, and selects at least one reference magnetic field value in the information base The field axis is matched with at least one reference magnetic field value corresponding to the field axis so as to position the moving body.

The real-time magnetic field axial direction and/or the reference magnetic field axial direction are/is a built-in axial direction and/or a self-defined axial direction.

The information base further stores at least one non-magnetic field information, the operation module is used for directly or indirectly correcting the non-magnetic field information with the real-time magnetic field information to position the moving body, and the non-magnetic field information is selected from air pressure information, speed/acceleration information, angle information, coordinate information, audio information, optical information, image information, radio wave information and the combination of the air pressure information, the speed/acceleration information, the angle information, the coordinate information, the audio information, the optical information, the image information and the radio wave information.

The information base further stores at least one reference position information, the operation module is used for directly or indirectly correcting the reference position information with the real-time magnetic field information to position the mobile body, and the reference position information is selected from magnetic field data, place data, coordinate data, air pressure data, terrain data, radio wave information and the combination of the magnetic field data, the place data, the coordinate data, the air pressure data, the terrain data and the radio wave information.

The reference magnetic field information and the real-time magnetic field information provided by the invention are the sum of the geomagnetism and the magnetic field of a fixed magnetic object; the reference magnetic field value and the real-time magnetic field value respectively include a magnetic field strength (vector field H) and/or a magnetic induction strength (vector field B).

The magnetic field detection module is further selected from a combination of a geomagnetic detector, a magnetic field detector and a three-axis magnetic field detector; the magnetic field detection module, the operation module and the information base can be integrated into a single device or respectively arranged in different devices, wherein the magnetic field detection module is arranged in the mobile main body, the operation module and the information base are selectively arranged in the mobile main body or other devices, and the operation module and the information base can be independently or respectively arranged.

In addition, for the present invention, when there are a plurality of magnetic field detection modules, the magnetic field detection modules are further arranged according to the motion path and/or the moving direction.

The moving direction of the moving body is provided substantially along a specific path, wherein the specific path includes a road, a waterway and a waterway. And, the mobile body is selected from the group consisting of a land vehicle, a water vehicle, an air vehicle, and combinations thereof.

In summary, the present invention provides a magnetic field positioning method and system, which detects a plurality of real-time magnetic field information and matches the real-time magnetic field information with reference magnetic field information to position a mobile object, thereby overcoming the technical bottleneck in the prior art, compensating the deficiency that the prior positioning technology cannot position in an area with high stereo shielding density, and being able to be used as an auxiliary system of other positioning technologies to improve the positioning accuracy.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects: compared with the traditional method, the magnetic field positioning method and the magnetic field positioning system thereof detect a plurality of pieces of real-time magnetic field information, and match the real-time magnetic field information with the reference magnetic field information to position the mobile main body, overcome the technical bottleneck existing in the prior art, complement the defect that the existing positioning technology can not position in the area with high stereo shielding density, and simultaneously can be used as an auxiliary system of other positioning technologies to improve the positioning accuracy.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a flow chart of a magnetic field positioning method according to the present invention;

FIG. 2 is a block diagram of a magnetic field positioning system according to the present invention;

FIG. 3 is a schematic view of an embodiment of the present invention showing magnetic field positioning in different axial directions;

FIG. 4 is a flow chart of a magnetic field positioning method according to the present invention;

FIG. 5 is a flow chart of a magnetic field positioning method according to the present invention;

FIG. 6A is a schematic view of an embodiment of the present invention applied to magnetic field positioning of urban roads;

FIG. 6B is a graph of the field strength of the axial magnetic fields detected in FIG. 6A;

FIG. 7 is a schematic view of an embodiment of the present invention of magnetic field location in rectangular coordinates applied to a bridge, including a graph of the magnetic field strength of each axial magnetic field detected;

FIG. 8 is a flow chart of a magnetic field positioning method according to the present invention;

FIG. 9 is a flow chart of a magnetic field positioning method according to the present invention;

fig. 10 is a flowchart of a magnetic field positioning method according to the present invention.

Description of the symbols:

the magnetic field positioning system comprises a 1-magnetic field positioning system, a 12-magnetic field detection module, a 14-operation module, a 2-information base, A3 a-main body, A3 b-side edge, A3 c-side edge, A3D-tail end, an Mb-moving main body, a Dm-moving direction, a D1-reference magnetic field information direction, a D1 a-reference magnetic field axial direction, a D2-real-time magnetic field information direction, a D2 a-real-time magnetic field axial direction, a D2 b-second real-time magnetic field axial direction, an A1-first angle and an A2-second angle.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The invention provides a magnetic field positioning method and a magnetic field positioning system, which are used for positioning the position of a moving body. Please refer to fig. 1-2, wherein fig. 1 is a flowchart of a magnetic field positioning method according to the present invention, and fig. 2 is a block diagram of a magnetic field positioning system according to the present invention.

As shown in fig. 1-2, the magnetic field positioning system 1 includes a magnetic field detection module 12 and an operation module 14, and in the present embodiment, the magnetic field positioning system 1 can extract a plurality of reference magnetic field information from an information base 2, where the reference magnetic field information includes a plurality of reference magnetic field values corresponding to a plurality of reference magnetic field axes. Therefore, in detail, the magnetic field positioning method provided by the invention comprises the following steps: first, in step S01, the magnetic field detection module 12 in the magnetic field positioning system 1 detects a plurality of pieces of real-time magnetic field information on the motion path of the moving body along the moving direction of the moving body; in step S02, the operation module 14 decomposes each of the real-time magnetic field information obtained by the magnetic field detection module 12 into a plurality of real-time magnetic field values according to the real-time magnetic field axes, and selects at least one real-time magnetic field value corresponding to at least one real-time magnetic field axis; next, in step S03, the operation module 14 selects at least one reference magnetic field value corresponding to the selected real-time magnetic field axis from the reference magnetic field data in the database 2 according to the selected real-time magnetic field value corresponding to the selected real-time magnetic field axis, and finally, in step S04, matches the selected at least one real-time magnetic field value corresponding to the selected real-time magnetic field axis with the at least one reference magnetic field value corresponding to the selected at least one reference magnetic field axis stored in the information database 2 to determine the position of the moving body.

In addition, in step S01, the magnetic field detection module 12 obtains a set of magnetic field information with unique characteristics according to the detected real-time magnetic field information, and matches the set of magnetic field information with the known reference magnetic field information in the information base 2, along with the real-time magnetic field information detected by the moving body, which may be detected at a plurality of time points with the same time interval or a plurality of time points with different time intervals. It should be noted that, according to actual experimental results, it is generally found that the more the number of real-time magnetic field data detected within a certain range, the higher the accuracy of subsequent determination and matching may be, and the better number of detected data may be influenced by the number of magnetic objects in the environment, the magnetic field strength of the magnetic object, the moving speed of the moving body, the sampling frequency …, and other factors. It is noted that the real-time magnetic field information is detected by detecting the magnetic fields of all magnetic objects in the motion path.

The real-time magnetic field axial direction and/or the reference magnetic field axial direction are/is a built-in axial direction and/or a self-defined axial direction. In an actual use state, the magnetic force detector can be placed in the vehicle at any angle, and the axial direction in the state is regarded as a self-defined axial direction; in other embodiments, to improve the measurement accuracy, the Z-axis of the three-axis magnetometric detector can be set perpendicular to the ground as a custom axial direction before measurement; of course, in other embodiments, the magnetic field axis in the database may be a built-in axis direction directly.

In addition, when the reference magnetic field axial direction and the real-time magnetic field axial direction are not substantially parallel to any axial direction of the rectangular coordinates based on the geomagnetism, in the calculation and determination process of the magnetic field localization method provided by the present invention, no adjustment is needed to make the magnetic field localization method substantially parallel to any axial direction of the rectangular coordinate based on the geomagnetism, because the magnetic field localization method provided by the present invention does not need to use the geomagnetism as the basis for calculation or determination, as can be seen from the method flowchart shown in fig. 1, since the reference magnetic field information stored in the information base 2 and the real-time magnetic field information detected in real time are based only on the magnetic field information detected by the magnetic field detection module 12, therefore, even if the reference magnetic field axis or the real-time magnetic field axis is not parallel to any rectangular coordinate axis of the geomagnetism, the matching of the reference magnetic field value and the real-time magnetic field value is not influenced; in addition, since the reference magnetic field information and the real-time magnetic field information may be from different magnetic field detection modules 12, or the same magnetic field detection module 12 may be used but in different detection states (for example, factors such as the position of the magnetic field detection module 12 in the moving body, whether a specific angle … is sandwiched between the magnetic field detection module 12 and the moving direction), the angles between the reference magnetic field axial direction and the moving direction and the real-time magnetic field axial direction, respectively, may not be always kept the same during the detection period, for example, when the reference magnetic field axial direction and the real-time magnetic field axial direction respectively sandwich a first angle and a second angle with the moving direction of the moving body, and the first angle and the second angle are the same during the detection period, it means that the reference magnetic field axial direction is substantially parallel to the real-time magnetic field axial direction, which includes two cases: first, the reference magnetic field axis is parallel and co-directional to the real-time magnetic field axis, so the first angle is equal to the second angle, or second, the reference magnetic field axis is parallel but opposite to the real-time magnetic field axis, so the first angle is equal to the complement of the second angle.

In addition, if the magnetic field positioning system provided by the present invention comprises a plurality of magnetic field detection modules, which are arranged according to the motion path and/or the moving direction, the magnetic field detection modules may be arranged in any or array form, the array form comprises a one-dimensional array form arrangement and a two-dimensional array form arrangement, and in the case of the one-dimensional array form arrangement, when the magnetic field detection modules are arranged in a longitudinal manner, that is, the arrangement direction thereof is substantially parallel to the moving direction of the moving body, the effect of the positioning resolution is increased because the number of detection points along the motion path is increased, for example, when the positioning resolution of the magnetic field detection modules is 10Hz and the moving speed is kept at 36km/h, if the positioning resolution is 1 meter, that is, magnetic field information is recorded once per 1 meter, and under the same moving condition, if two magnetic field detection modules with a distance of 0.5 meter are placed along the moving direction (longitudinal direction), the positioning resolution can be increased to 0.5 m, in other words, a magnetic field detection module with a positioning resolution of 20Hz is equivalently equipped.

Taking another example of one-dimensional array arrangement as an example, when the magnetic field detection modules are arranged in a manner substantially perpendicular to the moving direction, the effect of increasing the transverse positioning resolution can be achieved, for example, if a single magnetic field detection module is arranged on the moving body, the transverse positioning resolution that can be obtained is 1 meter, but if a magnetic field detection module with a distance of 0.1 meter is additionally arranged on the moving body along the transverse arrangement direction, the transverse positioning resolution can be increased to 0.1 meter, and besides being applied to positioning, lane deviation warning or lane change judgment can be used.

Before the step of matching the at least one selected real-time magnetic field value corresponding to the at least one real-time magnetic field axis with the at least one selected reference magnetic field value corresponding to the at least one selected reference magnetic field axis, the at least one selected real-time magnetic field axis and the at least one selected reference magnetic field axis are corrected by a linear mapping method. Of course, in a specific embodiment, the linear mapping method can be implemented by weighting, vector summation, etc., and the various linear mapping methods can be executed separately and simultaneously, and the sequence of executing steps can be adjusted and changed according to actual requirements. For example, when a selected real-time magnetic field axis and a corresponding reference magnetic field axis form an angle, one of the magnetic field axes (e.g., the real-time magnetic field axis) may be linearly mapped to a space in the other magnetic field axis (e.g., the reference magnetic field axis) and then subjected to a subsequent matching operation, or the real-time magnetic field axis and the reference magnetic field axis may be linearly mapped to another space and then subjected to a subsequent matching operation.

In the following, an embodiment is described, and as shown in fig. 1-3, in fig. 3, the moving direction Dm of the moving body Mb, the direction D1 of the reference magnetic field information in the information base 2, the reference magnetic field axial direction D1a, the direction D2 of the real-time magnetic field information detected by the magnetic field detection module 12, and the real-time magnetic field axial direction D2a are disclosed, wherein the reference magnetic field axial direction D1a and the moving direction Dm sandwich a first angle a1, and the real-time magnetic field axial direction D2a and the moving direction Dm sandwich a second angle a2, in this embodiment, since the direction D1 of the reference magnetic field information, the reference magnetic field axial direction D1a are not respectively parallel to the direction D2 of the real-time magnetic field information detected by the magnetic field detection module 12, the real-time magnetic field axial direction D2a, and the first angle a1 is not equal to the second angle a2, therefore, in step S02, the real-time value corresponding to the real-time magnetic field axial direction of the reference magnetic field is matched with the reference magnetic field value corresponding to the reference magnetic field axial direction of the reference magnetic field axial direction, the operation module 14 may further selectively adjust the reference magnetic field value and the real-time magnetic field value according to the first angle a1 and/or the second angle a2 to adjust the reference magnetic field axis direction D1a and/or the real-time magnetic field axis direction D2a, and then match the selectively adjusted reference magnetic field value and/or the selectively adjusted real-time magnetic field value, wherein the adjustment includes angle correction, vector direction correction …, and the like, for example, the reference magnetic field axis direction D1a and the real-time magnetic field axis direction D2a may be adjusted to be substantially parallel by the first angle a1 and the second angle a2, and then the reference magnetic field axis direction D1a and the real-time magnetic field axis direction D2a are adjusted to be the same direction by the vector direction adjustment. In addition, the reference magnetic field axis direction D1a is not limited to be perpendicular to the direction D1 and/or the moving direction Dm of the reference magnetic field information, and the reference magnetic field axis direction D2a is not limited to be perpendicular to the direction D2 and/or the moving direction Dm of the real-time magnetic field information, in other words, when the axis directions D1, D1a, D2, and D2a provided by the present invention are decomposed into components by a single vector, the components are not necessarily decomposed by a vector decomposition method according to a rectangular coordinate system or any predetermined coordinate system, and the components are not necessarily decomposed according to a rectangular coordinate system of geomagnetism or any other predetermined coordinate system in each axis direction D1, D1a, D2, and D2a, and in the actual component magnetic field calculation and matching step, the calculation and matching of the corresponding relationship among the axis directions D1, D1a, D2, and D2a may be performed. In another embodiment, the magnetic field measurement can be directly performed along the motion path (e.g., road) by a three-axis magnetic detector placed at an arbitrary angle in the mobile body (e.g., car), and real-time magnetic field values of X, Y and Z three-axis directions can be measured, and the real-time magnetic field axes of X, Y and Z are perpendicular to each other and independent from each other, wherein the real-time magnetic field axis of Z and the moving direction of the vehicle form an angle a2, and when the reference magnetic field axis of Z and the moving direction included angle of Z in the reference magnetic field information stored in the database 2 are zero, the real-time magnetic field axis of Z and the corresponding real-time magnetic field value can be converted to the reference magnetic field axis of Z and the corresponding reference magnetic field value stored in the database 2 by a linear mapping manner, and the subsequent comparison is performed. The included angle is measured by a gyroscope.

In practical applications, the present invention can intermittently or continuously read a plurality of reference position information as auxiliary information for predicting the position of the mobile body, and can directly or indirectly match the real-time magnetic field information with the corresponding reference position information through at least one of a data fusion algorithm, an artificial intelligence algorithm, a data fusion algorithm and a map comparison algorithm.

In addition, when the step of selecting at least one real-time magnetic field axial direction is performed, at least one of the strength, relative change (for example, relative strength change) and signal-to-noise ratio of the real-time magnetic field value corresponding to each real-time magnetic field axial direction can be calculated to be used as a basis for selecting at least one real-time magnetic field axial direction; and, wherein, at least one of the strength, the relative change (for example, the relative strength change) and the signal-to-noise ratio of the real-time magnetic field value corresponding to each real-time magnetic field axis is calculated at one time or continuously, more specifically, when the signal-to-noise ratio of the real-time magnetic field value corresponding to each real-time magnetic field axis is calculated at one time, a real-time magnetic field axis with the largest signal-to-noise ratio is selected, and when the signal-to-noise ratio of the real-time magnetic field value corresponding to each real-time magnetic field axis is calculated continuously, one or more real-time magnetic field axes are selected in a fixed or variable manner according to the sequence of the signal-to-noise ratios from large to small. That is, in the course of executing the magnetic field positioning method of the present invention, the real-time magnetic field axial direction may be determined at the beginning, or whether the different axial directions are changed to be the real-time magnetic field axial direction may be determined according to the detected result, or a plurality of axial directions may be simultaneously used as the real-time magnetic field axial directions according to the detected result, and the influence degree of each axial direction may be determined by weighting or other methods. More specifically, if a three-axis magnetic detector is used to measure the magnetic field of the road, and the three-axis magnetic field X, Y, and Z is measured, if the snr of the measured Z-axis magnetic field is higher than X, Y, the real-time magnetic field value corresponding to the Z-axis can be selected to match the reference magnetic field value corresponding to the Z-axis in the database. Similarly, if it is determined that the X, Z-axis magnetic field information has a magnitude relative to a change in strength that is greater than the Y-axis magnetic field, the real-time magnetic field value corresponding to the X, Z axis may be selected to match the reference magnetic field value corresponding to the X, Z axis in the database.

In addition, in the present invention, different mathematical methods and algorithms are used in other steps than the linear mapping method described above. For example, before and/or after the step of matching the at least one real-time magnetic field value corresponding to the at least one selected real-time magnetic field axis with the at least one selected reference magnetic field value corresponding to the at least one selected reference magnetic field axis, the at least one real-time magnetic field value corresponding to the at least one selected real-time magnetic field axis and the at least one selected reference magnetic field value corresponding to the at least one selected reference magnetic field axis are further filtered. Filtering out noise, for example, using a linear moving average algorithm; or using a high-pass filtering method to filter out low-frequency noise; or a low pass filtering method is used to filter out high frequency noise.

In addition, at least one real-time magnetic field value corresponding to the selected at least one real-time magnetic field axis is matched with at least one reference magnetic field value corresponding to the selected at least one reference magnetic field axis through at least one of a dynamic programming algorithm, an artificial intelligence algorithm, a data fusion algorithm and a map comparison algorithm.

Of course, according to different requirements, for example, to effectively shorten the determination time required for matching and improve the positioning accuracy …, the magnetic field positioning method provided by the present invention is shown in fig. 4, which is a flow chart of the magnetic field positioning method provided by the present invention, and the block diagram of the magnetic field positioning system is shown in fig. 2.

In this method, in addition to referring to the reference magnetic field information, plural pieces of non-magnetic field information are detected more intermittently or continuously, and after those pieces of real-time magnetic field information of the moving body on the motion path are detected, those pieces of real-time magnetic field information are matched with the corresponding pieces of non-magnetic field information directly or indirectly to confirm the corresponding information of the moving body in the non-magnetic field information. And, matching those real-time magnetic field information directly or indirectly to corresponding non-magnetic field information by at least one of a dynamic programming algorithm, an artificial intelligence algorithm, a data fusion algorithm, and a map comparison algorithm.

First, in step S11, the operation module 14 in the magnetic field positioning system 1 refers to the plural non-magnetic field information in the information base 2 first, positions the moving body in a non-magnetic field positioning manner first, and when the operation module 14 cannot position the moving body in a non-magnetic field manner among the non-magnetic field information successfully as shown in step S12a, step S13a is executed, the plural real-time magnetic field information is detected by the magnetic field detection module 12 along with the movement of the moving body in the moving direction of the moving body, and in step S14, the operation module 14 is used to match the real-time magnetic field information obtained by the magnetic field detection module 12 with the reference magnetic field information stored in the information base 2, and finally, in step S15, the operation module 14 confirms the position of the moving body according to the reference magnetic field information matched with the real-time magnetic field information; or after step S11, when the computing module 14 can successfully collect the corresponding non-magnetic field information from the information base 2 to position the moving body by the non-magnetic method as shown in step S12b, the process proceeds to step S13b, and the magnetic field detecting module 12 can selectively detect the real-time magnetic field information corresponding to the moving body, in this embodiment, the process proceeds to step S14 and step S15 after the step S13b continues to detect the magnetic field information, but of course, the magnetic field positioning method is not continued after the non-magnetic field positioning method is finished, but the corresponding steps are not shown in the figure. In the above-mentioned processes of step S12b and step S13b, although the operation module 14 can directly position the mobile body by the non-magnetic field method, the real-time magnetic field information of the position of the mobile body can be selectively detected by the magnetic field detection module 12 at the same time, so as to improve the positioning accuracy of the non-magnetic field positioning method, or the magnetic field information of the region can be obtained to provide more reference information.

Of course, the selection and matching methods of the real-time magnetic field information and the reference magnetic field information in steps S13a, S13b, S14 and S15 of the present process are the same as the process shown in fig. 1, and therefore, the description thereof is omitted. In addition, in the process of step S11, from step S12a to step S13a, and from step S12b to step S13b in the present flowchart, the operation module 14 of the magnetic field positioning system 1 can automatically determine the path to be executed, and can select the path to be executed by means of user input, for example, whether to use the non-magnetic field positioning method can be automatically determined by the magnetic field positioning system 1, whether to position the moving body by the non-magnetic field positioning method in advance can be determined by the user input instruction, when the non-magnetic field positioning method is effective or ineffective, the magnetic field positioning system 1 can automatically determine whether to start the magnetic field positioning method or determine whether to start the magnetic field positioning method according to the input command of the user, the input command of the user can be executed through the established entity components (such as keys) or in the display mode of the command window.

The non-magnetic field information is selected from the group consisting of air pressure information, speed/acceleration information, angle information, coordinate information, audio information, optical information, image information, radio wave information, and combinations thereof, for example, acceleration change is detected by an accelerometer, so as to determine whether the moving body changes its position on the moving plane, such as the behavior of switching from a first lane to a second lane, or the air pressure around the moving body is detected by a pressure detector, so as to determine whether the moving body changes in height, or the speed of the moving body changes dramatically …, or the tilt angle of the moving body is detected by an inclinometer, a gyroscope, etc., so as to assist in determining whether the moving plane and the moving direction of the moving body are non-horizontal, such as when the moving body is in the process of going up and down a bridge, the inclination angle is different from the inclination angles on the wall surface and the road surface, and the detection results of various states can be used as the basis for starting the magnetic field positioning method provided by the invention; in addition, the reference coordinate information may be information from a wireless communication system, such as but not limited to a 5G signal, a Wi-Fi signal, a bluetooth signal, an optical communication signal, or other positioning sensing information, such as image information, radar information, laser information, sound information, optical information …, and the like, for example, but not limited to, global positioning system information, global satellite navigation information, beidou satellite navigation information, galileo positioning information, indian regional navigation satellite information, quasi-zenith satellite information, chinese regional positioning information, X-ray pulsar navigation information …, and the like.

The invention can provide an effective and accurate positioning method to assist the positioning of the mobile body when other non-magnetic field positioning methods fail, and can also be used as an auxiliary positioning method of the mobile body under the condition that other non-magnetic field positioning methods are not very accurate. Taking practical application as an example, when the mobile body is first located in a non-magnetic field manner of global satellite navigation, but the satellite navigation accuracy is reduced or even disabled due to shielding of a three-dimensional obstacle (such as a bridge, a building …, etc.), the magnetic field location system is immediately started, and a plurality of corresponding real-time magnetic field information are detected along with the movement of the mobile body, so as to locate the mobile body.

In addition, in addition to the reference magnetic field information, the plurality of reference position information is read intermittently or continuously, and after detecting the real-time magnetic field information of the moving body on the motion path, the real-time magnetic field information is directly or indirectly matched with the corresponding reference position information to confirm the corresponding information of the moving body in the reference position information, and the reference position information is selected from the group consisting of magnetic field data, location data, coordinate data, air pressure data, terrain data, radio wave information and the combination of the magnetic field data, the location data, the coordinate data, the air pressure data, the terrain data and the radio wave information. For example, when the mobile body moves to the vicinity of a base station and receives the wireless signal of the base station, only the magnetic field information in the coverage range of the base station signal in the database is selected as the reference magnetic field information; when the mobile main body receives the GPS signal, only selecting the magnetic field information in the error range of the GPS in the database as the reference magnetic field information; if the mobile main body identifies the specific street view by using the image, only the magnetic field information in the possible range of the specific street view in the database is selected as the reference magnetic field information, and the subsequent comparison is carried out.

In addition, in practical applications, because the magnetic field positioning system disposed on the mobile body is subject to installation position, angle, or fluctuation of the mobile plane itself, the axial direction of the real-time magnetic field information measured by the magnetic field detection module is not parallel to the axial direction of the reference magnetic field information stored in the information base; in addition, based on the above, in the step of selecting at least one real-time magnetic field axis, a plurality of real-time magnetic field axes may be further selected, and therefore, a plurality of other real-time magnetic field values may also exist corresponding to the plurality of real-time magnetic field axes, in other words, the real-time magnetic field information may further include a plurality of real-time magnetic field values corresponding to different real-time magnetic field axes in addition to the necessary real-time magnetic field values, and the following description takes the first real-time magnetic field axis, the first real-time magnetic field value, the second real-time magnetic field axis, and the second real-time magnetic field value as an example, and similarly, the reference magnetic field information may also include a plurality of other reference magnetic field values, and the following description takes the first reference magnetic field axis, the first reference magnetic field value, the second reference magnetic field axis, and the second reference magnetic field value as an example; it is noted that, in general, whether the real-time magnetic field or the reference magnetic field, the first real-time magnetic field axis, the second real-time magnetic field axis (or other more real-time magnetic field axes) may be perpendicular axes in space (e.g., three-dimensional space), and similarly, the first reference magnetic field axis, the second reference magnetic field axis (or other more reference magnetic field axes) may be perpendicular axes in space (e.g., three-dimensional space). When the axial direction of the real-time magnetic field information is not parallel to the axial direction of the reference magnetic field information, it indicates that neither the first axial direction nor the second axial direction in the real-time magnetic field information is parallel to the first axial direction or the second axial direction in the reference magnetic field information, and in most situations, for example, when a moving body moves between multi-layer bridges, or when a steel beam or a steel bar which generates magnetism by being subjected to an external electric field, stress, and heat is arranged in an arbitrary manner when a building or a bridge is constructed, because the magnetic field direction of a magnetic object is not necessarily consistent with the geomagnetic direction, and the magnetic field directions between different magnetic objects are not necessarily the same, or because the angle for detecting the reference magnetic field information is different from the angle for collecting the real-time magnetic field information, the axial direction of the first real-time magnetic field may be opposite to or not parallel to the axial direction of the first reference magnetic field. In the above state, the magnetic field positioning method provided by the present invention is shown in fig. 5, which is a flow chart of the magnetic field positioning method provided by the present invention, and a block diagram of the magnetic field positioning system is shown in fig. 2.

First, in step S21, the magnetic field detection module 12 of the magnetic field positioning system 1 detects a plurality of real-time magnetic field information along with the movement of the moving body in the moving direction of the moving body, wherein the real-time magnetic field information includes a first real-time magnetic field value in a first real-time magnetic field axis direction and at least a second real-time magnetic field value in a second real-time magnetic field axis direction; continuing, in step S22, the operation module 14 first determines whether the first real-time magnetic field axis and/or the second real-time magnetic field axis in the real-time magnetic field information are parallel and co-directional to the first reference magnetic field axis and/or the second reference magnetic field axis in the reference magnetic field information in the information base 2; if the first real-time magnetic field axis and/or the second real-time magnetic field axis in the real-time magnetic field information are not parallel and/or not oriented to the first reference magnetic field axis and/or the second reference magnetic field axis in the reference magnetic field information, as shown in step S23a, the operation module 14 may perform operations, simulations, and the like (for example, but not limited to coordinate transformation) to make the first real-time magnetic field axis and/or the second real-time magnetic field axis in the real-time magnetic field information be parallel and oriented to the first reference magnetic field axis and/or the second reference magnetic field axis in the reference magnetic field information; in step S23b, the determination results are displayed in parallel and in the same direction, so no additional adjustment is needed; therefore, after step S23a or step S23b, the process proceeds to step S24, and the operation module 14 matches the adjusted real-time magnetic field information (as the result of step S23 a) or the real-time magnetic field information detected by the magnetic field detection module 12 (as the result of step S23 b) with the reference magnetic field information stored in the information base 2; finally, in step S25, the operation module 14 confirms the position of the mobile body according to the reference magnetic field information matched with the real-time magnetic field information.

In addition, in an environment with multiple magnetic field sources, such as a forest city of a building, an interior of a building with a complex structure, a bridge … with steel beams staggered, and the like, besides the effect of the first real-time magnetic field value in the first real-time magnetic field axial direction, the effect of the second real-time magnetic field value in the second real-time magnetic field axial direction cannot be ignored, for example, as shown in fig. 6A, it provides a schematic diagram that the magnetic field positioning method of the present invention is applied to detect the lane of the moving body Mb moving in the city area, fig. 6B is a corresponding magnetic field change curve diagram, the moving body Mb in this embodiment moves along the moving direction Dm, and as shown in the magnetic field change curve of fig. 6B, the magnetic field change in the first real-time magnetic field axial direction D2a resolved by the direction D2 of the real-time magnetic field information is most obvious, while the magnetic field change in the second real-time magnetic field axial direction D2B is not as the magnetic field change in the first real-time magnetic field axial direction D2a, however, the magnetic field change is still significantly more significant than the magnetic field change in the moving direction Dm, because there are many kinds of magnetic objects with height such as buildings, street lamps, electric poles … around the moving direction Dm of the moving body Mb, and therefore, the magnetic field influence on the first real-time magnetic field axis D2a and the second real-time magnetic field axis D2b by the surrounding magnetic objects is significantly greater than the moving direction Dm, and certainly, the magnetic field change exists in the moving direction Dm, but according to the practical experimental results, the magnetic field change in the moving direction Dm is not significant in the present embodiment, and may not be listed as a matching option, but under some conditions or requirements, the magnetic field change in the moving direction Dm can still be one of the bases for matching.

In addition, since the present invention detects the magnetic fields of all the magnetic objects on the motion path when detecting the real-time magnetic field information on the motion path, the structure of the bridge itself includes a large number of members having magnetic objects, such as steel bars, wire ropes, and iron bars …, to correspondingly form piers, slings, fences, and other structures, unlike the driveways in the general urban area, except for the street lamps, fences …, etc., on the bridge floor, and thus the situation of the magnetic field change is very significant.

Referring to fig. 7, a schematic diagram of the magnetic field positioning method applied to detect the magnetic field variation of the moving body moving on the bridge with different structures is shown according to the actual detection result. The bridge disclosed in this embodiment includes a main body 3a (short-dashed line section) designed by suspension cables (Arch), a side 3b (long-dashed line section) designed by Arch, a side 3c (dotted line) with less structure, and a terminal 3D (long-short dashed line section) supported by a simple bridge pillar (simple supported), so that the distribution of the suspension cables in the main body 3a section is uniform, and the magnetic fields in the moving direction Dm, the first real-time magnetic field axis D2a, and the second real-time magnetic field axis D2b are regularly changed due to the influence of the magnetism of the cable, and in the area of the side 3b, the magnetic field changes are more obvious due to the Arch design and the influence of the additional building below, and in the area of the other side 3c, the magnetic field changes are more gradual and less obvious due to the absence of a dense rigid structure, in the 3d areas at the two ends of the bridge, however, significant and prominent magnetic field changes can be detected due to the bridge pillars having a relatively large amount of steel bars disposed therein. However, in either case shown in fig. 6 or fig. 7, since a large number of magnetic objects exist in the environment, the phenomenon of the magnetic field variation is quite strong, so that the real-time magnetic field variation detectable at each position has unique characteristics, and therefore, not only the position of the mobile body can be confirmed, but also the mobile body can be accurately positioned on a specific lane of a road or a bridge.

Therefore, under the circumstances similar to the above, the present invention provides a magnetic field positioning method, as shown in fig. 8, which is a flow chart of the magnetic field positioning method provided by the present invention, and also refer to the block diagram of the magnetic field positioning system provided in fig. 2.

First, in step S31, the magnetic field detection module 12 of the magnetic field positioning system 1 detects a plurality of real-time magnetic field information along with the movement of the moving body in the moving direction of the moving body, wherein the real-time magnetic field information includes a first real-time magnetic field value in the first real-time magnetic field axis direction and at least one second real-time magnetic field value in the at least one second real-time magnetic field axis direction; secondly, in step S32, the operation module 14 first determines whether the second real-time magnetic field value in the second real-time magnetic field axis direction in the real-time magnetic field information is sufficient to affect the matching result, wherein the criterion for determining includes conditions of determining the strength, relative change (for example, relative strength change), signal-to-noise ratio …, etc. of the second real-time magnetic field value in the second real-time magnetic field axis direction, or determining the ratio of the second real-time magnetic field value in the second real-time magnetic field axis direction to the first real-time magnetic field value in the first real-time magnetic field axis direction, or directly inputting from the outside whether there is a requirement … of the second real-time magnetic field value in the second real-time magnetic field axis direction, if the determination result is no, then step S33a is continued, and if the determination result is yes, then step S33b is continued; in step S33a, the operation module 14 selects a first real-time magnetic field value in the real-time magnetic field information corresponding to the first real-time magnetic field axis to match a first reference magnetic field value in the reference magnetic field information in the information base 2 corresponding to the first reference magnetic field axis, and more selectively matches a second real-time magnetic field value in the real-time magnetic field information corresponding to the second real-time magnetic field axis to a second reference magnetic field value in the reference magnetic field information in the information base 2 corresponding to the second reference magnetic field axis; in step S33b, the operation module 14 matches the first real-time magnetic field value corresponding to the first real-time magnetic field axis and the second real-time magnetic field value corresponding to the second real-time magnetic field axis in the real-time magnetic field information with the first reference magnetic field value corresponding to the first reference magnetic field axis and the second reference magnetic field value corresponding to the second reference magnetic field axis in the reference magnetic field information base 2, respectively; finally, in step S34, the operation module 14 correspondingly selects the first real-time magnetic field value corresponding to the first real-time magnetic field axis and/or the second real-time magnetic field value corresponding to the second real-time magnetic field axis according to the above determination result to match the reference magnetic field information in the information base 2 with the first reference magnetic field value corresponding to the first reference magnetic field axis and/or the second reference magnetic field value corresponding to the second reference magnetic field axis, so as to determine the position of the mobile body. In this embodiment, the matching of the magnetic field positioning method still uses the original magnetic field detected by the magnetic field detection module 12 as the matching condition, in other words, in the steps of the magnetic field positioning method, the magnetic field in a single axial direction sensed by the magnetic field detection module 12 is used as the operation reference. In addition, in step S34, the operation module 14 can select at least one effective real-time magnetic field axis and the corresponding real-time magnetic field value for matching after correcting the magnetic field axis according to the embodiment shown in fig. 5, in addition to the determination based on the conditions of the intensity, the relative change (for example, the relative intensity change), the signal-to-noise ratio …, and the like of the real-time magnetic field value provided in the present process.

Compared with the prior art, based on the existing magnetic field detection device (such as a compass) which can only detect the resultant vector, when a vehicle passes through a bridge, due to the influence of steel bars, steel cables or other magnetic objects inside and outside the bridge, the known magnetic field detection device can cause the deviation of the induced magnetic pole direction and the occurrence of misjudgment result because the magnetic field of the bridge affects the geomagnetic factors. However, in the magnetic field positioning method provided by the present invention, in addition to detecting a single axial magnetic field, sources of magnetic substances in different axial directions and influences on the overall magnetic field are determined at the same time, and besides the first real-time magnetic field value corresponding to the first real-time magnetic field axial direction, the second real-time magnetic field value corresponding to the second real-time magnetic field axial direction, which will also cause influences, is selectively considered in the matching option.

Referring to fig. 2 and 9, in the present embodiment, an embodiment for weighting a specific axial magnetic field is provided. First, in step S41, the magnetic field detection module 12 of the magnetic field positioning system 1 detects a plurality of real-time magnetic field information along with the movement of the moving body in the moving direction of the moving body, wherein the real-time magnetic field information includes a first real-time magnetic field value corresponding to a first real-time magnetic field axis and at least one second real-time magnetic field value corresponding to at least one second real-time magnetic field axis; next, in step S42, the operation module 14 collects a first real-time magnetic field value corresponding to the first real-time magnetic field axis and a second real-time magnetic field value corresponding to the second real-time magnetic field axis in the real-time magnetic field information; in step S43, the operation module 14 weights the first real-time magnetic field value axially corresponding to the first real-time magnetic field detected by the magnetic field detection module 12 and the second real-time magnetic field value axially corresponding to the second real-time magnetic field according to different environments and requirements; in step S44, the operation module 14 can also selectively perform weighting calculation on a first reference magnetic field value corresponding to the first reference magnetic field axis and a second reference magnetic field value corresponding to the second real-time magnetic field axis in the reference magnetic field information of the information base 2, respectively; in step S45, matching a first real-time magnetic field value corresponding to the first real-time magnetic field axis of the weighted real-time magnetic field information and a second real-time magnetic field value corresponding to the second real-time magnetic field axis with a first reference magnetic field value corresponding to the first reference magnetic field axis and a second reference magnetic field value corresponding to the second real-time magnetic field axis of the reference magnetic field information in step S44, respectively; finally, in step S46, the operation module 14 confirms the position of the mobile body according to the reference magnetic field information matched with the real-time magnetic field information. The weighted determination may be determined according to each real-time magnetic field axis and/or each real-time magnetic field value, for example, the real-time magnetic field value and the corresponding real-time magnetic field axis may be determined according to whether a larger real-time magnetic field value occurs in a specific real-time magnetic field axis, or according to conditions such as the strength, relative variation (e.g., relative strength variation), signal-to-noise ratio …, and the like.

In the above magnetic field positioning method, on the premise of confirming that the second real-time magnetic field value of the real-time magnetic field information is added and matched, weighting is performed on a first real-time magnetic field value corresponding to a first real-time magnetic field axis of the real-time magnetic field information and a second real-time magnetic field value corresponding to a second real-time magnetic field axis according to different environments and different requirements, wherein weighting proportions of the first real-time magnetic field value corresponding to the first real-time magnetic field axis and the second real-time magnetic field value corresponding to the second real-time magnetic field axis may be the same or different, and even under certain conditions, after the second real-time magnetic field value corresponding to the second real-time magnetic field axis is weighted, for the whole magnetic field change, the influence caused by the first real-time magnetic field value corresponding to the first real-time magnetic field axis without weighting or after weighting is almost the same; the weighting proportion of the first real-time magnetic field value axially corresponding to the first real-time magnetic field in the real-time magnetic field information may be the same as or different from the weighting proportion of the first reference magnetic field value axially corresponding to the first reference magnetic field of the reference magnetic field data, and the weighting proportion of the second real-time magnetic field value axially corresponding to the second real-time magnetic field in the real-time magnetic field information may be the same as or different from the weighting proportion of the second reference magnetic field value axially corresponding to the second reference magnetic field of the reference magnetic field data; in addition, the reference magnetic field information may be optionally weighted or not weighted on the premise that the real-time magnetic field information is weighted.

In addition to all of the above examples of matching conditions with the original magnetic field, a number of single axial field vectorization examples are provided below. Please refer to fig. 2 and fig. 10 simultaneously. In step S51 of this embodiment, the magnetic field detection module 12 of the magnetic field positioning system 1 detects a plurality of real-time magnetic field information along with the movement of the moving body on the moving plane of the moving body, where the real-time magnetic field information includes a first real-time magnetic field value in a first real-time magnetic field axis direction and a second real-time magnetic field value in at least one second real-time magnetic field axis direction; next, in step S52, the operation module 14 quantizes a first real-time magnetic field value in the first real-time magnetic field axis direction and a second real-time magnetic field value in the second real-time magnetic field axis direction detected by the magnetic field detection module 12 into a synthesized vector; in step S53, the operation module 14 also quantizes a first reference magnetic field value of the reference magnetic field information in the information base 2 in the first reference magnetic field axis direction and a second reference magnetic field value of the reference magnetic field information in the second reference magnetic field axis direction into another synthesized vector; in step S54, the resultant vector obtained in step S52 is matched with the resultant vector obtained in step S53; finally, in step S55, the operation module 14 determines the position of the moving object according to the matching result. Of course, in the above steps S52 and S53, before the operation module 14 respectively vectorizes the first real-time magnetic field axis, the second real-time magnetic field axis, the first reference magnetic field axis and the second reference magnetic field axis in the real-time magnetic field information and the reference magnetic field information, the operation module may further selectively weight the first real-time magnetic field value, the second real-time magnetic field value, the first reference magnetic field value and the second reference magnetic field value, or perform vectorization on the first real-time magnetic field axis, the second real-time magnetic field axis and the first reference magnetic field axis after weighting the first real-time magnetic field value, the second real-time magnetic field value, the first reference magnetic field value and the second reference magnetic field value, similar to the magnetic field positioning method shown in fig. 9.

It can be known from fig. 8-10 that, in the determination method for selectively correcting the magnetic field axes provided in fig. 8, how to know how to perform matching in several magnetic field axes is required, besides the above-mentioned determination by the parameters such as the strength, relative variation, signal-to-noise ratio, etc. of the magnetic field values in a specific magnetic field axis, the determination may also be performed in an artificial intelligence manner, or in a weighting manner as shown in fig. 9, or may be a selected determination basis, for example, when the weighting coefficient of one magnetic field axis is much smaller than the weighting coefficients of other magnetic field axes, the magnetic field axis having the minimum coefficient and the corresponding magnetic field value may not be selectively listed in the calculation range, and in a specific example, after the calculation of the resultant vector as shown in fig. 10, the magnetic field axis corresponding to the minimum magnetic field value may hardly affect the whole resultant vector, the influence of the magnetic field axial direction on the whole operation is also equivalently eliminated. In addition, when a plurality of magnetic field axes and/or magnetic field values are required to be calculated, the weighting process and the vector summing process can be selectively used, and the magnetic field axes and/or magnetic field values can be calculated in different orders according to the requirements, for example, the magnetic field positioning system can refer to the reference magnetic field information and the non-magnetic field information in the information base, and can also incorporate the second real-time magnetic field value and/or the second reference magnetic field value into the judgment process under the specific requirements, naturally, after the second real-time magnetic field value and/or the second reference magnetic field value are/is included in the calculation, the weighting calculation can be optionally performed, and finally, according to the information in the information base or other factors, to determine whether the matching is to be performed in raw data of the axial magnetic field, weighted data of the axial magnetic field, or a synthetic vector manner.

Unlike the prior art, the composite vector in this embodiment is based on environmental or other requirements, different weighting proportions are provided for the magnetic fields in different axial directions, vector synthesis is carried out according to the weighted data, completely different from the original synthetic vector integrating the geomagnetism and the environmental magnetic field measured directly in the prior art in the past, therefore, the magnetic field positioning method and the system thereof provided by the invention can not only be used together with the known non-magnetic field positioning method, but also be more suitable for the environment with high shielding density of the three-dimensional structure, because the magnetic field positioning method provided by the invention can highlight the magnetic field characteristics of each region by adjusting the weighted proportion of each axial magnetic field, and the positioning accuracy is greatly improved by carrying out separation and identification, and the technical characteristics can hardly be realized by other positioning methods.

Finally, in the present invention, the magnetic field positioning method matches the real-time magnetic field information with the reference magnetic field information by a dynamic programming algorithm and/or an artificial intelligence algorithm and/or a data fusion algorithm and/or a map comparison algorithm, wherein the dynamic programming algorithm includes a dynamic time programming algorithm, a derivative dynamic time programming algorithm …, etc., and the artificial intelligence algorithm includes a markov chain, an artificial neural network, a decision tree, a support vector machine, a regression analysis, a bayesian network, a monte carlo method, a genetic algorithm …, etc. The data fusion algorithm may be, for example, a kalman filter algorithm, a particle filter algorithm, a bayesian filter algorithm …, or the like. The map comparison algorithm may be, for example, a point-to-point comparison algorithm, a point-to-curve comparison algorithm, or a curve-to-curve comparison algorithm.

Taking the dynamic time programming algorithm as an example, firstly, according to the position of the moving body, defining the detected magnetic field information as Q (query), defining the location map data corresponding to the magnetic field information Q as R (reference), calculating two magnetic field information sequences Q and R with the lengths of m and n respectively, calculating corresponding differential value sequences Q 'and R' with the lengths of m '(m-2) and n' (n-2), and obtaining the following formula (1):

next, a distance matrix D of size m '× n' is created, the matrix elements (i, j) representing the distance between two points Q 'i and R' j, and the distance between two points Q 'i and R' j is expressed by the following equation:

d(Q'i,R'j)＝|Q'i-R'j|²

again, a cumulative distance matrix C of size m '× n' is created and the defined cumulative distances are expressed by the following equation:

C(i,j)＝d(Q'i,R'j)+min{C(i-1,j),C(i-1,j-1),C(i-1,j-2)}

finally, a backtracking method (backtracking) is used for finding out an optimal path from the minimum element in the last column of the cumulative distance matrix C according to the defined path mode so as to obtain the corresponding relation between the detected magnetic field information and the ground point data, and further converting the current position of the mobile main body.

Taking an artificial intelligence algorithm as an example, a large amount of magnetic field data is provided, magnetic field information is filtered in a former processing mode, and then the filtered magnetic field information is used as training data (training data) of artificial intelligence to establish a model through a Markov chain algorithm or other algorithms, so that when new real-time magnetic field information is detected, the real-time magnetic field information is judged through the established calculation model to judge and read the map data corresponding to the real-time magnetic field information.

The artificial intelligence algorithm includes a markov chain, an artificial neural network, a decision tree, a support vector machine, a regression analysis, a bayesian network, a monte carlo method, a genetic algorithm …, and the like.

Taking a data fusion algorithm as an example, the Kalman filtering algorithm can be used for predicting the position of the next state of the linear moving body, the magnetic field detection module is used for measuring the magnetic field of the driving road section and then comparing the magnetic field with reference information in a database to position, the positioning error between the predicted and measured real-time magnetic field information is calculated according to the Kalman filtering algorithm, and the positioning state of the moving body is repeatedly updated in a recursive operation mode.

Taking the map comparison algorithm as an example, the single real-time magnetic field value can be compared with the single reference magnetic field value in the information base through the point-to-point comparison algorithm.

In addition, because the magnetic field positioning method and the system thereof adopt the single axial magnetic field for detecting real time, in order to ensure that the calculation result is more accurate, the magnetic field positioning method can further carry out noise filtration on the real-time magnetic field information, and the method comprises a linear moving average method, a high-pass filtering method, a low-pass filtering method, a band-stop filtering method … and the like, or is matched with other sensing components to delete unreasonable values.

Finally, to sum up, the reference magnetic field information and the real-time magnetic field information provided by the present invention are the sum of the magnetic field of the geomagnetic object and the magnetic field of the stationary magnetic object, and all the real-time magnetic field values and the reference magnetic field values provided by the present invention respectively include the magnetic field strength (vector field H) and/or the magnetic induction strength (vector field B). In addition, the magnetic field detection module, the operation module and the information library in the magnetic field detection system may be integrated into a single device or respectively disposed in different devices, wherein, in addition to the magnetic field detection module disposed in the mobile body, the operation module and the information library may be selectively disposed in the mobile body or disposed in other devices, such as but not limited to the base station, the cloud database …, etc., and the magnetic field detection module is further selected from the group consisting of a geomagnetic detector, a single-axis magnetic field detector, a three-axis magnetic field detector and a combination thereof.

Therefore, different from the known coordinate positioning method, the method provided by the invention does not mainly perform positioning by using the known satellite, image and other methods, but performs positioning by using a mode of detecting magnetic field information at specific points in real time, in other words, positioning can be performed by using the magnetic field positioning method provided by the invention as long as the position of the magnetic field can be detected, so that the problem of positioning difficulty caused by any stereoscopic obstacle in space is completely eliminated, and the positioning accuracy cannot be influenced due to any weather change.

More specifically, the magnetic field information in the present invention is the single axial magnetic field data detected by the magnetic field detection module, and includes not only the necessary existing geomagnetism, but also the magnetic field generated by the magnetic objects in the existing and fixed structures such as buildings, street lamp supports, bridge structures …, etc., such as but not limited to steel bars, metal materials …, etc., and thus, the present invention can provide the positioning information on the road surface, and can also correspondingly show different magnetic field information distribution characteristics according to the height change and floor change of the magnetic field, in other words, under the environment with higher building density, it can provide higher positioning accuracy. In practical applications, the magnetic field positioning method of the present invention can provide a wider area and a finer positioning capability, for example, a vehicle traveling on a bridge can be clearly defined by dense magnetic field information provided by materials such as piers, slings, and bridge body reinforcements …, and the magnetic field information represented at different positions can be further accurately positioned, and according to the actually detected result, the magnetic field positioning method of the present invention can not only position the road or bridge on which the vehicle is located, but also can accurately distinguish that the vehicle is located on a specific lane of the road or bridge by that one or a plurality of axial magnetic fields of each lane in a direction substantially perpendicular to the traveling direction of the vehicle have characteristics of different magnetic fields respectively, and further improve the magnetic field information difference at each position because the density of the magnetic field information is high, so that the positioning accuracy can be greatly improved, and similar situations occur in cities where building density is high or even inside buildings. Obviously, different from the known compass positioning technology, the magnetic field positioning method of the present invention can determine the position and the moving state of the moving body according to the characteristics of the real-time magnetic field information in the environment where the moving body is located, especially the characteristics of the first axial magnetic field information in the real-time magnetic field information, and based on the characteristics, the present invention is particularly suitable for being applied to the area with specific and fixed magnetic field characteristics. In other words, the moving direction of the moving body provided in the present invention may substantially follow a specific path, such as a road, a waterway and a navigation channel, within the range of the specific path, there are usually a certain number of fixed magnetic field information features, for example, a large number of buildings, street lamps, electric poles, bridges …, etc. around the road, these fixed facilities jointly form the specific magnetic field information features of the specific road section and the specific lane, and since the installation density and the magnetic field strength of these facilities reflect more obvious magnetic field information in the specific axial direction, the positioning effect can be achieved by matching the real-time magnetic field in the first axial direction with the reference magnetic field in the first axial direction.

For example, in road applications, the magnetic field localization method provided by the present invention may be implemented by a magnetic field information measurement device (e.g., a measurement vehicle) to collect magnetic field information, store the magnetic field information in a user device or a cloud, perform matching between the magnetic field information and a ground point map data by methods such as linear algebra algorithm or artificial intelligence algorithm …, and integrate the determination results of different axial magnetic fields by pre-processing or post-processing filtering methods under different algorithms or environmental conditions, or combine with other detectors.

On the other hand, in a navigation channel, since the detected magnetic field information does not generally have a magnetic field other than the geomagnetism in a certain altitude, it is necessary to determine the information based on the inhomogeneity of the geomagnetism on the earth. In addition, the altitude and attitude of an aircraft (e.g., an airplane) change during flight, and the corresponding magnetic field information changes, and the attitude change can be corrected by transforming the coordinate space through linear mapping, for example, when the head of the aircraft is raised to 90 degrees for climbing, the original Y axis should be mapped to the Z axis, and the original Z axis should be changed to the negative Y axis.

In the case of water channel applications, the navigation is divided into above sea level and below sea level, wherein the magnetic navigation at sea level is basically the same as the magnetic navigation method of the channel, but since the navigation at sea level is substantially constant in height, waves can be corrected by gyroscopes and accelerometers. Magnetic field positioning under sea level can be applied to divers, submarines …, etc. since both submarines and divers are typically located relatively close to the sea floor, reef, sea ditch …, etc., positioning can be assisted by the magnetic field of objects such as crustacean sinkers, etc. In addition, attitude changes may also occur below sea level, and the specific solution is similar to that described in the channel.

When the moving body is a vehicle, when the vehicle runs on an existing road or bridge on a map, that is, when the vehicle runs on an existing route, the magnetic field detection module detects real-time magnetic field information of the vehicle around the route in real time, wherein the real-time magnetic field information may include a first axial magnetic field and a second axial magnetic field, the magnetic field detection module may be a magnetic field detector in an intelligent mobile phone or any commercially available multi-axial magnetic field detector, and after receiving the real-time magnetic field information from the magnetic field detection module, the operation module matches the real-time magnetic field information with the magnetic field information in the information base to know that the vehicle is located on an inner lane, a middle lane or an outer lane on the route.

In summary, although the magnetic field positioning method provided by the present invention mainly detects the magnetic field along the moving direction of the moving body, it mainly detects the position change of the moving body in the specific axial direction, for example, it detects whether the moving body moves from the first position to the second position along the moving direction within a certain time interval, however, when the moving body continuously detects the real-time magnetic field information, it can further determine whether the moving body changes lanes by comparing the real-time magnetic field information corresponding to a plurality of different time points according to the reference magnetic field information in the information base, for example, when the real-time magnetic field information between the first time point and the second time point corresponds to the reference magnetic field information of different sections on the first lane, but the real-time magnetic field information detected after the second time point cannot correspond to any reference magnetic field information corresponding to the first lane, the magnetic field information may be original single-axis magnetic field data and/or weighted magnetic field data and/or vectorized resultant magnetic field data, and may be further selectively processed by an operation.

In addition, when the position of the vehicle is to be located, besides the real-time magnetic field information of the position of the vehicle is detected by the magnetic field detection module, the area range of the vehicle can be detected by the non-magnetic field detection module, the non-magnetic field detection module can be a base station located around the vehicle, or a global positioning system, a global satellite navigation system, a radar system or any non-magnetic field detection system, for example, after the operation module receives 5G information from the base station, the operation module is matched with the 5G information in the information base, so that the range of the area of the vehicle can be effectively limited. And for the purposes of the present invention, preferred mobile bodies may be selected from land vehicles, water vehicles, air vehicles, and combinations thereof.

In addition, according to the results of practical tests, it is shown that the magnetic field positioning method of the present invention detects at least a single axial magnetic field, but because the directions of the magnetic fields of the geomagnetic and stationary magnetic objects are different, and because the moving direction of the moving body is different, how to process the original magnetic field information is different in the positioning process, for example, when a vehicle or a pedestrian travels, the influence of the magnetic field information for positioning by the magnetic field change in the moving direction is small, and mainly the influence toward the magnetic object in the first axial direction and/or the second axial direction is significant, so that when performing weighting calculation, an operation logic manner of weakening the specific axial direction and strengthening the specific axial direction is adopted to improve the positioning accuracy. Meanwhile, when the magnetic field positioning method provided by the invention is used for detection, the magnetic field information of multiple points is continuously detected in a time interval, and the magnetic field characteristics are constructed by the continuous magnetic field information to confirm the position information.

In addition, the magnetic field positioning method and the system thereof can be more applied to pedestrian positioning, when the method and the system are applied to pedestrian positioning, only other sensors (such as an acceleration sensor, a gyroscope and the like) are needed to be matched for use, the sensors are usually arranged on an intelligent mobile phone, the gyroscope is taken as an example, the gyroscope is used for judging the inclination angle of a pedestrian and a ground plane, and then the magnetic field information of three axes is converted through coordinate axes, so that the real-time magnetic field information and the magnetic field information can be matched to achieve the purpose of positioning.

The magnetic field positioning method and the magnetic field positioning system thereof provided by the invention have the advantages that the technical bottleneck existing in the prior art is overcome by detecting the magnetic field information and carrying out position matching, the positioning accuracy is not influenced by the weather environment, and the magnetic field positioning method and the magnetic field positioning system still have good positioning accuracy in an environment shielding area and an area which cannot receive signals (such as satellite positioning signals, Wi-Fi signals … and the like).

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.