Indoor positioning system and method based on geomagnetic signals in combination with computer vision

An indoor positioning system based on geomagnetic signals in combination with computer vision, comprising:

• a computer vision positioning module comprising an camera unit for obtaining a spatial image of a surrounding environment to create computer vision coordinates;
• a geomagnetic signal positioning module comprising a geomagnetic sensing unit for detecting trajectories of geomagnetic signals for creating geomagnetic signal coordinates;
• a map generating module comprising a database for storing the created computer vision coordinates and the created geomagnetic signal coordinates, and an inertial measurement unit for detecting a current position and a traveling trajectory, so as to combine the computer vision coordinates with the geomagnetic signal coordinates to generate a computer vision map and a geomagnetic data map;
• and
• a weighting module for calculating a computer vision weight and a geomagnetic signal weight based on the created computer vision coordinates and the created geomagnetic signal coordinates, and inputting the computer vision weight and the geomagnetic signal weight in a weight equation to estimate a present location;
• wherein the weight equation is:
• W
• 1
• (
• W
• 1
• +
• W
• 2
• )
• ×
• (
• x
• 1
• ,
• z
• 1
• )
• +
• W
• 2
• (
• W
• 1
• +
• W
• 2
• )
• ×
• (
• x
• 2
• ,
• z
• 2
• )
• ,
• wherein x and y coordinates of the computer vision positioning module are indicated as x1 and z1, respectively, the computer vision weight is indicated as W1, x and y coordinates of the geomagnetic signal positioning module are indicated as x2 and z2, respectively, and the geomagnetic signal weight is indicated as W2.