光源编码+PDR组合的室内行人定位方法
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摘要
针对光源编码定位系统存在定位不连续、易受遮挡导致定位性能下降等问题,提出了一种光源编码/行人航迹推算(PDR)组合的室内行人定位方法。该方法采用扩展卡尔曼滤波(EKF)对PDR位置和光源编码位置进行融合处理,并运用新息滤波对光源编码位置进行抗差处理。试验结果表明,光源编码+PDR组合算法能有效改善光源编码定位不连续、非视距环境中存在粗差的问题,实现连续、高精度的室内行人定位。
The result of coded-light positioning system is usually discontinuous and has large error in a non-line-of-sight environment.Aiming at this problem,an indoor positioning method of coded light+PDR combination for smartphones is proposed. This method fuses the results of coded-light positioning system and PDR by EKF. And it uses innovation to build a robust filter. Several walking tests show that the method can solve the problem effectively and achieve the goal of continuous and high-precision indoor pedestrian positioning.
The result of coded-light positioning system is usually discontinuous and has large error in a non-line-of-sight environment.Aiming at this problem,an indoor positioning method of coded light+PDR combination for smartphones is proposed. This method fuses the results of coded-light positioning system and PDR by EKF. And it uses innovation to build a robust filter. Several walking tests show that the method can solve the problem effectively and achieve the goal of continuous and high-precision indoor pedestrian positioning.
引文
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[14]常乐.基于DSP的GNSS/INS实时组合导航系统的研究[D].武汉:武汉大学,2017.
[15]苗岳旺,周巍,田亮,等.基于新息χ~2检测的扩展抗差卡尔曼滤波及其应用[J].武汉大学学报(信息科学版),2016,41(2):269-273.
[2]陈锐志,陈亮.基于智能手机的室内定位技术的发展现状和挑战[J].测绘学报,2017,46(10):1316-1326.
[3] XIE B,TAN G,HE T. Spin Light:a high accuracy and robust light positioning system for indoor applications[C]∥Proceedings of the 13th ACM Conference.[S.l.]:ACM,2015.
[4] ZHANG C,ZHANG X. Li Tell:robust indoor localization using unmodified light fixtures[C]∥Proceedings of International Conference on Mobile Computing&Networking.[S.l.]:ACM,2016.
[5] LI L,HU P,PENG C,et al. Epsilon:a visible light based positioning system[C]∥Proceedings of Usenix Conference on Networked Systems Design&Implementation.[S.l.]:USENIX Association,2014.
[6]宋业磊.专注红外位置追踪,青瞳视觉想要做中国版的Opti Track[EB/OL]. 2016-08-24[2018-12-20].https:∥36kr.com/p/5051506.html.
[7] MA S,LIU Q,SHEU C Y. Foglight:visible light-enabled indoor localization system for low-power iot devices[J].IEEE Internet of Things Journal,2018,5(1):175-185.
[8]张鹏,赵齐乐,李由,等.基于PDR、Wi Fi指纹识别、磁场匹配组合的室内行人导航定位[J].测绘地理信息,2016,41(3):29-32.
[9] KUANG J,NIU X,CHEN X. Robust pedestrian dead reckoning based on MEMS-IMU for smartphones[J].Sensors,2018,18(5):1391-1398.
[10] SHIN E H. Estimation techniques for low-cost inertial navigation[D]. Calgary:University of Calgary,2005.
[11] FOXLIN E. Pedestrian tracking with shoe-mounted inertial sensors[J]. IEEE Computer Graphics&Applications,2005,25(6):38-46.
[12] GROVES P D. Principles of GNSS,inertial,and multisensor integrated navigation systems[M]. London:Artech House,2008:335-337.
[13] ZHUANG Y. Integration of Wi Fi and MEMS sensors for indoor navigation[D]. Calgary:University of Calgary,2015.
[14]常乐.基于DSP的GNSS/INS实时组合导航系统的研究[D].武汉:武汉大学,2017.
[15]苗岳旺,周巍,田亮,等.基于新息χ~2检测的扩展抗差卡尔曼滤波及其应用[J].武汉大学学报(信息科学版),2016,41(2):269-273.