CN114690179A - Indoor tracking and positioning method and device based on short-distance radar and strapdown inertial navigation - Google Patents

Abstract

Embodiments of the present disclosure relate to an indoor tracking and positioning method and device based on short-range radar and strapdown inertial navigation. The method includes: acquiring indoor spatial position information by a short-range radar and constructing a virtual model of an indoor structure, wherein the spatial position information includes the angle information between the indoor walls, the ground and the roof, and their respective height information; Real-time information, wherein the real-time information includes at least attitude information and position information; compare the orientation information corresponding to the real-time information with the virtual model of the indoor structure; perform data processing based on the comparison results, and track and locate the moving target, wherein the data processing is based on short distances. Radar and Strapdown Inertial Navigation System are carried out. The embodiments of the present disclosure can quickly acquire the indoor structure, so as to more accurately locate the moving object, so that the position of the moving object can be quickly found when needed, and the safety of the moving object can be ensured.

Description

Indoor tracking and positioning method and device based on short-range radar and strapdown inertial navigation

technical field

The embodiments of the present disclosure relate to the technical field of tracking and positioning, and in particular, to an indoor tracking and positioning method and device based on short-range radar and strapdown inertial navigation.

Background technique

When firefighters perform firefighting tasks, they often occur indoors. Due to the complex and high-risk site conditions, they often face huge threats to their lives. When firefighters are injured or evacuated, satellites or base stations cannot be used to quickly construct the current fire situation and know the exact location of the injured, which brings huge challenges to rescue work. How to quickly and accurately perceive the fire situation for firefighters and track and locate their own side is a very important research topic, which is of great significance to ensuring life safety.

In the related art, the tracking and positioning system for indoor moving targets has large data errors and poor reliability, and lacks on-site real-time situational awareness.

Therefore, it is necessary to improve one or more problems existing in the above-mentioned related technical solutions.

It should be noted that the information disclosed in the above Background section is only for enhancement of understanding of the background of the present disclosure, and therefore may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present disclosure is to provide an indoor tracking and positioning method and device based on short-range radar and strapdown inertial navigation, so as to overcome one or more problems caused by limitations and defects of the related art at least to a certain extent.

According to a first aspect of the embodiments of the present disclosure, an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation is provided, including:

The short-range radar obtains the indoor spatial position information and constructs a virtual model of the indoor structure, wherein the spatial position information includes the angle information between the indoor walls, the ground and the roof, and the respective height information;

Short-range radar and strapdown inertial navigation acquire real-time information of moving targets, wherein the real-time information includes at least attitude information and position information;

comparing the orientation information corresponding to the real-time information with the virtual model of the indoor structure;

Perform data processing based on the comparison result, and track and locate the moving target;

Wherein, the data processing is performed based on the short-range radar and the strapdown inertial navigation system, the real-time information of the moving target is calculated through the inertial measurement signal output by the strapdown inertial navigation system, and the error calculation and correction are performed on the real-time information.

In an exemplary embodiment of the present disclosure, the acquiring indoor spatial position information and constructing a virtual model of an indoor structure includes:

Extract geometric and topological information of indoor entities to obtain indoor spatial location information;

The spatial position information is corrected to construct a virtual model of the indoor structure.

In an exemplary embodiment of the present disclosure, the acquiring real-time information of a moving target, wherein the real-time information includes at least attitude information and position information, including:

Use multiple sensors to obtain multiple real-time data;

The real-time information of the moving target is determined according to the plurality of real-time data and fusion.

In an exemplary embodiment of the present disclosure, the comparing the orientation information corresponding to the real-time information with the virtual model of the indoor structure includes:

If the orientation information does not correspond to the location information of the indoor structure virtual model, it is determined that the orientation information is wrong and the comparison result is unreliable;

If the orientation information corresponds to the location information of the indoor structure virtual model, it is determined that the orientation information is correct and the comparison result is credible.

In an exemplary embodiment of the present disclosure, the tracking and positioning of the moving target based on the comparison result includes:

Data processing is performed according to the credible comparison result, and the moving target is tracked and positioned.

According to a second aspect of the embodiments of the present disclosure, an indoor tracking and positioning device based on short-range radar and strapdown inertial navigation is provided, including:

a first indoor model construction unit, configured to acquire indoor spatial position information and construct a virtual model of an indoor structure, wherein the spatial position information includes the angle information between the indoor walls, the ground and the roof, and the respective height information;

a real-time information acquisition unit, configured to acquire real-time information of a moving target, wherein the real-time information at least includes attitude information and position information;

an information comparison unit, configured to compare the orientation information corresponding to the real-time information with the virtual model of the indoor structure;

a data processing unit, configured to perform data processing based on the comparison result, and to track and locate the moving target;

Among them, the data processing is performed by short-range radar and strapdown inertial navigation system, and the real-time information of the moving target is calculated by the inertial measurement signal output by the strapdown inertial navigation system, and the relative motion of the moving target can also be calculated by using the short-range radar, and Error calculation and correction are performed on the real-time information.

In an exemplary embodiment of the present disclosure, the first indoor model construction unit includes:

The indoor information acquisition unit is used to extract geometric information and topology information of indoor entities to acquire indoor spatial position information;

The second indoor model construction unit is configured to correct the spatial position information to construct a virtual model of the indoor structure.

In an exemplary embodiment of the present disclosure, the real-time information acquisition unit includes:

The real-time data acquisition unit is used to acquire multiple real-time data by using various sensors;

A real-time information determination unit, configured to fuse and determine the real-time information of the moving target according to the multiple real-time data.

According to a third aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the short-range radar-based and strapdown conventional methods described in any one of the foregoing embodiments. The steps of the guided indoor tracking and positioning method.

According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, comprising:

processor; and

a memory for storing executable instructions for the processor;

Wherein, the processor is configured to execute the steps of the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in any one of the foregoing embodiments by executing the executable instructions.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

In the embodiment of the present disclosure, by using the above method and device, by constructing a virtual model of indoor space position information and indoor structure, the indoor building outline information can be obtained, and then the real-time information of the moving object can be obtained, and it can be virtualized with the indoor structure. The model is compared to determine whether the orientation information is in the virtual model, and if it is in the virtual model, the strapdown inertial navigation system method is used for data processing to track and locate the moving target. This process can quickly obtain the indoor structure, and can calculate the error and correct the error to more accurately locate the moving target, so that the position of the moving target can be quickly found when needed, and the safety of the moving target can be ensured.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 shows a flowchart of an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in an exemplary embodiment of the present disclosure;

FIG. 2 shows a flow chart of acquiring indoor spatial position information and constructing a virtual model of an indoor structure in an exemplary embodiment of the present disclosure;

3 shows a flowchart of acquiring real-time information of a moving target in an exemplary embodiment of the present disclosure, wherein the real-time information includes at least attitude information and position information;

4 shows a flowchart of an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in yet another exemplary embodiment of the present disclosure;

FIG. 5 shows a flowchart of tracking and positioning the moving target based on the comparison result in an exemplary embodiment of the present disclosure;

6 shows a schematic structural diagram of an indoor tracking and positioning device based on short-range radar and strapdown inertial navigation in an exemplary embodiment of the present disclosure;

FIG. 7 shows a schematic structural diagram of a first indoor model construction unit in an exemplary embodiment of the present disclosure;

8 shows a schematic structural diagram of a real-time information acquisition unit in an exemplary embodiment of the present disclosure;

FIG. 9 shows a schematic structural diagram of an electronic device in an exemplary embodiment of the present disclosure;

FIG. 10 shows a schematic structural diagram of a program product for an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in an exemplary embodiment of the present disclosure.

Detailed ways

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted. Some of the block diagrams shown in the figures are functional entities that do not necessarily necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

This example embodiment first provides an indoor tracking and positioning method based on short-range radar and strapdown inertial navigation. Referring to FIG. 1 , the method may include steps S101 to S104:

Step S101, obtaining indoor spatial position information and constructing a virtual model of the indoor structure, wherein the spatial position information includes the angle information between the indoor walls, the ground and the roof, and the respective height information, and the belonging space construction module is based on the short Range radar, optional millimeter wave radar, or lidar, or other radar equipment for short-range perception;

Step S102, obtaining real-time information of the moving target, wherein the real-time information at least includes attitude information and position information;

Step S103, comparing the orientation information corresponding to the real-time information with the virtual model of the indoor structure;

Step S104, perform data processing based on the comparison result, and track and locate the moving target;

Wherein, the data processing is performed based on the short-range radar and the strapdown inertial navigation system, and the real-time information of the moving target is calculated by the inertial measurement signal output by the strapdown inertial navigation system, or the real-time information of the relative motion is measured based on the short-range radar, Error calculation and correction are performed on the real-time information.

Through the above method, by constructing the indoor spatial position information and the indoor structure virtual model, the indoor building outline information can be obtained, and then the real-time information of the moving target can be obtained, and it is compared with the indoor structure virtual model to determine whether the orientation information is In the virtual model, if in the virtual model, data processing is performed by means of short-range radar and strapdown inertial navigation system to track and locate the moving target. This process can quickly acquire the indoor structure, so that the moving target can be positioned more accurately, so that the position of the moving target can be quickly found when needed, and the safety of the moving target can be ensured. In particular, it can be used for indoor tracking and positioning of firefighters when they perform firefighting tasks, and can quickly and accurately know their location, which is convenient for monitoring and protecting firefighters.

Hereinafter, each step of the above-described method in this example embodiment will be described in more detail with reference to FIGS. 1 to 5 .

In step S101, the indoor spatial position information is acquired and a virtual model of the indoor structure is constructed, wherein the spatial position information includes the angle information between the indoor walls, the ground and the roof, and the respective height information. In this way, the indoor structure can be displayed with a virtual model first, so that the control terminal can clearly see the indoor structure and provide contour information for tracking and positioning.

In step S102, real-time information of the moving target is acquired, wherein the real-time information at least includes attitude information and position information. The posture information of the moving target can know the current state of the moving target, such as standing, sitting or lying down, can judge the safety of the moving target, and combine the position information to provide basic data information for finding the moving target.

In step S103, the orientation information corresponding to the real-time information is compared with the virtual model of the indoor structure. The acquired real-time information may have errors, and it is necessary to determine whether it is in the orientation corresponding to the indoor virtual model to improve the accuracy of the data.

In step S104, data processing is performed based on the comparison result, and the moving target is tracked and positioned, wherein the data processing is performed based on the short-range radar and the strapdown inertial navigation system, and the inertial measurement signal output by the strapdown inertial navigation system is used. Calculate real-time information of the moving target, or measure relative motion real-time information based on short-range radar, and perform error calculation and correction on the real-time information. Using the data processing method of the strapdown inertial navigation system, the real-time information of the moving target can be calculated in real time, and the error can be calculated and corrected in real time, without relying on external information, the possibility of interference is small, and the data error can be reduced. In addition, the position of the strapdown inertial navigation system can also be estimated and compensated for error, so as to obtain a more accurate moving target position. The real-time information of the measured moving target can be fused with GPS information to achieve high-precision positioning and better meet security requirements.

Referring to FIG. 2, in one embodiment, the acquiring indoor spatial position information and constructing a virtual model of the indoor structure includes steps S201-S202:

Step S201, extracting geometric information and topological information of indoor entities to obtain indoor spatial position information, for example, the above information can be extracted from a CAD model, in addition, effective information can be extracted in combination with a correction method, erroneous information can be removed, and a higher probability can be obtained. reliability data;

Step S202, correcting the spatial position information to construct a virtual model of an indoor structure.

In this embodiment, more accurate indoor space position information can be obtained, so as to obtain a virtual model of the indoor structure with higher precision and accuracy.

Referring to FIG. 3, in one embodiment, the step S102 includes steps S301-S302:

Step S301, using multiple sensors to obtain multiple real-time data;

Step S302, determining the real-time information of the moving target according to the multiple real-time data and fusion.

In this embodiment, a variety of sensors are used, for example, the nine-axis sensor is used to obtain the real-time movement posture change of the moving target, and relevant physiological data such as body temperature and heart rate are used, the temperature sensor is used to obtain the real-time temperature of the moving target, and the smoke sensor is used to obtain the smoke information. GPS to get real-time location, etc. Determine the real-time state and position of the moving target according to the above information.

Referring to FIG. 4, in one embodiment, the comparison of the orientation information corresponding to the real-time information with the virtual model of the indoor structure includes steps S401-S402:

Step S401, if the orientation information does not correspond to the location information of the indoor structure virtual model, it is determined that the orientation information is wrong and the comparison result is unreliable;

Step S402, if the orientation information corresponds to the location information of the indoor structure virtual model, it is determined that the orientation information is correct and the comparison result is credible.

In this embodiment, by comparing the orientation information and the position information of the virtual model, a credible comparison result is screened, so as to improve the accuracy of the information.

Referring to FIG. 5, in one embodiment, the tracking and positioning of the moving target based on the comparison result includes step S501:

Step S501 , perform data processing according to the credible comparison result, and track and locate the moving target.

In this embodiment, reliable comparison results are used for data processing, so as to achieve higher precision and accurate tracking and positioning.

It should be noted that although the various steps of the methods of the present disclosure are depicted in a particular order in the drawings, this does not require or imply that the steps must be performed in that particular order, or that all illustrated steps must be performed in order to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step for execution, and/or one step may be decomposed into multiple steps for execution, and the like. In addition, it is also readily understood that the steps may be performed synchronously or asynchronously, eg, in multiple modules/processes/threads.

Further, in this exemplary embodiment, an indoor tracking and positioning device based on short-range radar and strapdown inertial navigation is also provided. Referring to FIG. 6 , the apparatus may include: a first indoor model construction unit 101 , a real-time information acquisition unit 102 , an information comparison unit 103 and a data processing unit 104 .

Wherein: the first indoor model construction unit 101 is used for acquiring indoor spatial position information and constructing a virtual model of indoor structure, wherein the spatial position information includes the angle information between the indoor walls, the ground and the roof, and the respective heights information; the real-time information acquisition unit 102 is used to acquire real-time information of the moving target, wherein the real-time information includes at least attitude information and position information; the information comparison unit 103 is used to compare the orientation information corresponding to the real-time information with the indoor structure Virtual model comparison; the data processing unit 104 is used to perform data processing based on the comparison results, and to track and locate the moving target, wherein the data processing is performed by using a short-range radar and a strapdown inertial navigation system. The inertial measurement signal output by the guidance system calculates the real-time information of the moving target, and performs error calculation and correction on the real-time information.

Referring to FIG. 7 , in one embodiment, the first indoor model construction unit 101 includes: an indoor information acquisition unit 201 and a second indoor model construction unit 202 .

Wherein: the indoor information acquisition unit 201 is used for extracting geometric information and topology information of indoor entities to acquire indoor spatial position information; the second indoor model construction unit 202 is used for correcting the spatial position information to construct a virtual model of indoor structure.

Referring to FIG. 8 , in one embodiment, the real-time information acquisition unit 102 includes: a real-time data acquisition unit 301 and a real-time information determination unit 302 .

Wherein, the real-time data acquisition unit 301 is configured to acquire multiple real-time data by using various sensors; the real-time information determination unit 302 is configured to fuse and determine the real-time information of the moving target according to the multiple real-time data.

Regarding the apparatus in the above-mentioned embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be described in detail here.

It should be noted that although several modules or units of the apparatus for action performance are mentioned in the above detailed description, this division is not mandatory. Indeed, according to embodiments of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided into multiple modules or units to be embodied. Components shown as modules or units may or may not be physical units, ie may be located in one place, or may be distributed over multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the wood disclosure scheme. Those of ordinary skill in the art can understand and implement it without creative effort.

In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a computer program is stored, and when the program is executed by, for example, a processor, the short-range radar-based radar described in any one of the foregoing embodiments can be implemented. Steps of the indoor tracking localization method with SINS. In some possible implementations, aspects of the present invention may also be implemented in the form of a program product comprising program code for causing the program product to run on a terminal device when the program product runs on a terminal device. The terminal device executes the steps according to various exemplary embodiments of the present invention described in the above-mentioned section of the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation.

Referring to FIG. 9 , a program product 300 for implementing the above method is described according to an embodiment of the present invention, which may employ a semiconductor rewritable memory and include program codes, and may run on a terminal device such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or Flash-ROM flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code therein. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable storage medium can also be any readable medium other than a readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Python, Java, C++, etc., as well as conventional Procedural programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).

In an exemplary embodiment of the present disclosure, there is also provided an electronic device, which may include a processor, and a memory for storing executable instructions of the processor. Wherein, the processor is configured to execute the steps of the indoor tracking and positioning method based on short-range radar and strapdown inertial navigation in any one of the foregoing embodiments by executing the executable instructions.

As will be appreciated by one skilled in the art, various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", "module" or "system".

An electronic device 600 according to this embodiment of the present invention is described below with reference to FIG. 10 . The electronic device 600 shown in FIG. 10 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present invention.

As shown in FIG. 10, electronic device 600 takes the form of a general-purpose computing device. Components of the electronic device 600 may include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including the storage unit 620 and the processing unit 610), a display unit 640, and the like.

Wherein, the storage unit stores a program code, and the program code can be executed by the processing unit 610, so that the processing unit 610 executes the above-mentioned indoor tracking and positioning method based on short-range radar and strapdown inertial navigation. Described steps according to various exemplary embodiments of the present invention. For example, the processing unit 610 may perform the steps shown in FIG. 1 .

The storage unit 620 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 6201 and/or a cache storage unit 6202 , and may further include a read only storage unit (ROM) 6203 .

The storage unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205 including, but not limited to, an operating system, one or more application programs, other program modules, and programs Data, each or some combination of these examples may include an implementation of a network environment.

The bus 630 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.

The electronic device 600 may also communicate with one or more external devices 700 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 600 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 650 . Also, the electronic device 600 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 660 . Network adapter 660 may communicate with other modules of electronic device 600 through bus 630 . It should be appreciated that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.

From the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the above-mentioned indoor tracking and positioning method based on short-range radar and strapdown inertial navigation according to an embodiment of the present disclosure.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or techniques in the technical field not disclosed by the present disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the appended claims.

Claims (10)

1. An indoor tracking and positioning method based on a short-distance radar and strapdown inertial navigation is characterized by comprising the following steps:

acquiring indoor space position information and constructing an indoor structure virtual model, wherein the space position information comprises angle information and respective height information between every two indoor walls, the ground and a roof;

acquiring real-time information of a moving target, wherein the real-time information at least comprises attitude information and position information;

comparing the azimuth information corresponding to the real-time information with the indoor structure virtual model;

performing data processing based on the comparison result, and tracking and positioning the moving target;

the data processing is carried out based on a short-distance radar and a strapdown inertial navigation system, real-time information of the moving target is calculated through an inertial measurement signal output by the strapdown inertial navigation system, and error calculation and correction are carried out on the real-time information.

2. The indoor tracking and positioning method according to claim 1, wherein the obtaining of indoor spatial position information and constructing of an indoor structure virtual model comprises:

extracting geometric information and topological information of an indoor entity to obtain indoor spatial position information;

and correcting the spatial position information to construct an indoor structure virtual model.

3. The indoor tracking and positioning method according to claim 1, wherein the obtaining real-time information of the moving object, wherein the real-time information at least includes attitude information and position information, comprises:

acquiring a plurality of real-time data by utilizing a plurality of sensors;

and determining real-time information of the moving target according to the plurality of real-time data and fusion.

4. The indoor tracking and positioning method according to claim 1, wherein the comparing the orientation information corresponding to the real-time information with the virtual model of the indoor structure comprises:

if the azimuth information does not correspond to the position information of the indoor structure virtual model, judging that the azimuth information is wrong and the comparison result is not credible;

and if the azimuth information corresponds to the position information of the indoor structure virtual model, judging that the azimuth information is correct and the comparison result is credible.

5. The indoor tracking and positioning method according to claim 4, wherein the tracking and positioning the moving target based on the comparison result comprises:

and carrying out data processing according to the credible comparison result, and tracking and positioning the moving target.

6. Indoor tracking positioner based on short distance radar and strapdown are used to lead, its characterized in that includes:

the system comprises a first indoor model construction unit, a second indoor model construction unit and a third indoor model construction unit, wherein the first indoor model construction unit is used for acquiring indoor space position information and constructing an indoor structure virtual model, and the space position information comprises angle information and respective height information between every two indoor walls, the ground and a roof;

the real-time information acquisition unit is used for acquiring real-time information of a moving target, wherein the real-time information at least comprises attitude information and position information;

the information comparison unit is used for comparing the azimuth information corresponding to the real-time information with the indoor structure virtual model;

the data processing unit is used for carrying out data processing based on the comparison result and tracking and positioning the moving target;

the data processing is carried out by adopting a strapdown inertial navigation system, the real-time information of the moving target is calculated through an inertial measurement signal output by the strapdown inertial navigation system, and the error calculation and correction are carried out on the real-time information.

7. The indoor tracking and positioning apparatus of claim 6, wherein the first indoor model constructing unit comprises:

the indoor information acquisition unit is used for extracting the geometric information and the topological information of the indoor entity to acquire indoor spatial position information;

and the second indoor model construction unit is used for correcting the spatial position information to construct an indoor structure virtual model.

8. The indoor tracking and positioning device according to claim 6, wherein the real-time information obtaining unit comprises:

a real-time data acquisition unit for acquiring a plurality of real-time data using a plurality of sensors;

and the real-time information determining unit is used for determining the real-time information of the moving target according to the plurality of real-time data and fusion.

9. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the steps of the method for indoor tracking and positioning based on short-range radar and strapdown inertial navigation according to any one of claims 1 to 5.

10. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to execute the executable instructions to perform the steps of any one of claims 1 to 5 of the short range radar and strapdown inertial navigation based indoor tracking and positioning method.

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