维特比算法的一种室内地磁导航方法
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摘要
惯性导航系统是目前室内定位和导航领域一项非常重要的技术,但是传统惯性导航系统中是利用算法融合地磁罗盘及陀螺仪等数据,进而提高相对位置的精度,但却无法修正已经产生的误差.所以传统惯性导航系统在内部构造复杂的室内很容易出现走错房间,穿越墙体等错误路径.为了解决这些问题,提出一种基于维特比算法的室内导航方法,利用自建室内地磁数字地图结合维特比算法,动态计算可能路径.利用维特比算法特性提高了输出路径的纠错能力,可有效排除错误路径的干扰.本导航方法能有效避免穿墙错误路径的出现,更加符合实际行走路径.试验结果表明,相对传统惯性导航系统,它在复杂室内环境下进入正确房间的准确率提高了23%.
The inertial navigation system is the most important technology of indoor navigation and positioning.The traditional inertial navigation system that uses the algorithm merge magnetic compass,gyroscopes and other data to improve the accuracy of a relative position can not correct the errors.Therefore,in a complex internal structure,it is easy to walk into a wrong room,walk through a wall and so on.In order to solve these problems,a kind of interior navigation method based on the Viterbi algorithm by using the self-built indoor digital maps to dynamically calculate possible paths was proposed.The Viterbi algorithm could improve the error correction capability and could effectively eliminate interferences caused by wrong paths.This navigation method could effectively avoid wrong paths through the wall appearing.Compared with the conventional inertial navigation system,the accuracy of the walk in correct rooms in complex indoor environments increased by 23%.
The inertial navigation system is the most important technology of indoor navigation and positioning.The traditional inertial navigation system that uses the algorithm merge magnetic compass,gyroscopes and other data to improve the accuracy of a relative position can not correct the errors.Therefore,in a complex internal structure,it is easy to walk into a wrong room,walk through a wall and so on.In order to solve these problems,a kind of interior navigation method based on the Viterbi algorithm by using the self-built indoor digital maps to dynamically calculate possible paths was proposed.The Viterbi algorithm could improve the error correction capability and could effectively eliminate interferences caused by wrong paths.This navigation method could effectively avoid wrong paths through the wall appearing.Compared with the conventional inertial navigation system,the accuracy of the walk in correct rooms in complex indoor environments increased by 23%.
引文
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[2] MILLER L E,BRYNER N P,FRANCIS M H,el al.RFID-assisted indoor localization and communication for first responders[C]//European Conference on Antennas &Propagation.Nice:IEEE,2006:1-6.
[3] 韩晶.基于RFID标签的定位原理和技术[J].电子科技,2011,24(7):64-67.HAN Jin.Position principles and location techniques based on RFID tags[J].Electronic and Technology,2011,24(7):64-67.
[4] 李天文.GPS原理及应用[M].北京:科学出版社,2010:18-21.
[5] 施阁,卢江丽,孙延伟,等.航模动力及飞行环境无线实时监测系统设计[J].中国计量学院学报,2009,20(1):22-26.SHI Ge,LU Jiangli,SUN Yanwei,el al.Aeromodelling's power and flight environment wireless real-time monitoring system[J].Journal of China University of Metrology,2009,20(1):22-26.
[6] 雷波,陈华德,李青,等.基于动态差分GPS的滑坡位移监测系统[J].中国计量学院学报,2011,22(63):203-207.LEI Bo,CHENG Huade,LI Qing,el al.Design of landslide displacement monitoring system based on dynamic differential GPS[J].Journal of China University of Metrology,2011,22(63):203-207.
[7] TITTERTON D H,WESTON J L.Strapdown inertial navigation technology[J].Aerospace &Electronic Systems Magazine IEEE,1997,20(7):33-34.
[8] GREWAL M S,ANDREWS A P.Kalman Filtering Theory and Practice Using MATLAB[M].3th ed.[S.1.]:Circuit Theory &Design.2001:100-123.
[9] RISTIC B,ARULAMPALAM S,GORDON N.Beyond the kalman filter-particle filters for tracking applications[J].IEEE Trans of Aerospace &Electronic Systems,2004,19(7):37-38.
[10] RABINER L.A tutorial on hidden markov models and selected applications in speech recognition[J].Proceedings of the IEEE,1989,77(2):257-286.
[11] 刘功生,张春良,岳夏.基于HMM算法体系的逆维特比算法理论研究[J].机电工程技术,2014,43(11):7-10.LIU Gongsheng,ZHANG Chunliang,YUE xia.Research on theory of inv-viterbi algorithm based on the basic algorithm system of HMM[J].M&E Engineering Technology,2014,43(11):7-10.