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An indoor wlan/mems fusion cross-floor 3D positioning method

A positioning method, cross-floor technology, applied in positioning, navigation through speed/acceleration measurement, measuring devices, etc., can solve the error up to tens of meters, even hundreds of meters, cumulative error, step length, heading, step The impact of state detection accuracy and other issues, to achieve the effect of improving positioning accuracy

Active Publication Date: 2017-03-08
广东北斗天云科技有限公司
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Problems solved by technology

Theoretically, the positioning accuracy of this method will be very high, but in practical applications, due to the influence of factors such as inertial sensor drift, measurement noise, and pedestrian jitter, cumulative errors will occur after multiple integrations, and the error can reach within tens of seconds. tens of meters, even hundreds of meters
The method based on pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR) uses the displacement and heading of pedestrians to calculate the position. Compared with the traditional inertial integral navigation, it is more accurate and more suitable for pedestrian navigation. , The impact of gait detection accuracy, with the increase of time, there is still a cumulative error

Method used

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  • An indoor wlan/mems fusion cross-floor 3D positioning method
  • An indoor wlan/mems fusion cross-floor 3D positioning method
  • An indoor wlan/mems fusion cross-floor 3D positioning method

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Experimental program
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Effect test

Embodiment

[0141] Such as figure 1 As shown, the indoor WLAN / MEMS fusion cross-floor 3D positioning method includes the following steps:

[0142] 1) Initialize the robust extended Kalman integrated navigation filter, specifically given the initial position information (x 0 ,y 0 ), the error covariance matrix P 0 , the process noise covariance matrix Q, and the observation noise covariance matrix R, given the initial value of the layer height z 0 , and select the initial location fingerprint library;

[0143] 2) Assume that the optimal estimated position at time t-1 is t=1,2,K, calculate the physical distance d from the stairway i , select the WLAN location fingerprint database, as follows:

[0144] Measure the 3-dimensional position coordinates of all stair exits in the test environment as (x i ,y i ,z i ), i=1,2K,n, where n is the total number of stairways. Calculate the physical distance between it and each stairway respectively as

[0145]

[0146] where d i is the opt...

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Abstract

The invention provides an indoor WLAN / MEMS fusion cross-stair three-dimensional positioning method. The indoor WLAN / MEMS fusion cross-stair three-dimensional positioning method is mainly characterized in that a WLAN / MEMS fusion positioning robust extended Kalman filter is designed, available information of two systems is fully utilized, and resolution of a high-precision two-dimensional position is realized; a height is calculated by using output of a barometer, a geographic position and stair height information, and a position fingerprint database is selected for positioning a wireless local area network (WLAN), and indoor space cross-stair three-dimensional positioning is realized. The system and method are high in positioning precision by introducing robust extended Kalman estimation, and can be used for effectively overcoming an accumulative error existing in positioning of a micro electro mechanical system (MEMS) sensor and received signal strength (position information and actual height information of the previous time) in WLAN positioning to realize indoor space cross-stair three-dimensional positioning.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to an indoor positioning system. Background technique [0002] With the widespread use of smart terminals, the rapid development of mobile communications, and the rapid increase of data and multimedia services, location-based services (Location Based Services, LBS) are gradually being valued. Especially as the last meter of positioning technology, indoor positioning technology has broad application prospects. For example, in an underground parking lot, you can quickly find a parking space with the help of indoor positioning technology; Personnel can use indoor positioning technology to quickly determine the location of trapped people, so as to quickly rescue; in hospitals, indoor positioning technology can be used to locate patients who need care and so on. Outdoors, the Global Navigation Satellite System (GNSS) can basically meet the requirements of positioning accuracy, but ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/10
CPCG01C21/005G01C21/165G01S5/0257G01S5/0294
Inventor 田增山方鑫周牧张振源米刚
Owner 广东北斗天云科技有限公司
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