融合地磁/WiFi/PDR的自适应粒子滤波室内定位

随着国民经济的快速发展,人们在室内活动的时间越来越长,室内空间环境也越来越复杂,对室内环境的位置与导航服务的需求也越来越高。由于地磁信号具有稳定性的特点,且Wi Fi技术已得到广泛部署,融合使用地磁和Wi Fi定位具有一定的优势。因此,本文基于Android系统智能手机作为接收设备,融合地磁、Wi Fi及行人航迹推算(PDR)技术,通过自适应粒子滤波模型和随机抽样一致性算法对采集的信号进行处理。试验证明,地磁、Wi Fi、PDR三者融合进行室内定位的方法与其他单类方法相比,实现了将室内定位精度的误差最小降低到1.02 m。

An indoor localization method based on adaptive particle filter fusion of geomagnetism,WiFi and PDR

With the rapid development of national economy, people spend more and more time on indoor activities, indoor space environment is more and more complex, the demand for location and navigation services for indoor environments is also increasing. Due to the stability of geomagnetic signals and the widespread deployment of WiFi technology, the integration of geomagnetic and WiFi positioning has certain advantages. Therefore, this paper deals with the acquired signals adopting from adaptive particle filter model and random sampling consistency algorithm by fusion of geomagnetism,WiFi and pedestrian dead reckoning(PDR) based on the Android smart phone as the receiver. Experiments show that compared with other single-class methods, the indoor localization method of fusion of geomagnetism,WiFi and FDR can reduce the error of indoor localization accuracy to 1.02 m.