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Map matching and locating method and system based on particle filter

A technology of map matching and particle filtering, applied in the directions of measuring devices, instruments, mapping and navigation, etc., can solve problems such as poor positioning accuracy, and achieve the effect of improving positioning accuracy

Active Publication Date: 2017-05-31
北京羲和科技有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] In view of the above technical problems, the present invention provides a particle filter-based map matching and positioning method and system. The particle filter method is used to build a particle cloud based on the indoor environment map based on the positioning solution and its error, and then update the particle cloud through particle weight adjustment. In this way, the positioning solution is obtained, the indoor positioning is realized, and the positioning accuracy is improved; the indoor positioning through the PDR algorithm is avoided, because of its large error, the problem of poor positioning accuracy

Method used

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  • Map matching and locating method and system based on particle filter
  • Map matching and locating method and system based on particle filter

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Embodiment 1

[0062] figure 1 It shows a flow chart of a particle filter-based map matching and positioning method provided by the first embodiment of the present invention; figure 1 As shown, Embodiment 1 of the present invention provides a particle filter-based map matching and positioning method, including:

[0063] Step S1, obtain the indoor environment map, disassemble the feasible region of the indoor environment map into the feasible region of the straight road and the intersection region, and label the paths contained in the feasible region of the straight road and the intersection region, and each path corresponds to a path number;

[0064] Step S2, obtaining the particle cloud at the current position generated based on the result of the PDR, and the path number of the particle cloud at the current position;

[0065] Step S3, obtain the current position of the particle cloud, the variance of the current position, the step size, the estimation error of the step size, the heading an...

Embodiment 2

[0097] figure 2 It shows a schematic diagram of a particle filter-based map matching and positioning system provided by the second embodiment of the present invention, as shown in figure 2 As shown, Embodiment 2 of the present invention provides a particle filter-based map matching and positioning system 10, including:

[0098] The map preprocessing module 101 is used to obtain the indoor environment map, decompose the feasible region of the indoor environment map into the feasible region of the straight road and the intersection region, and label the paths contained in the feasible region of the straight road and the intersection region, each path corresponds to a path number;

[0099] The particle cloud generation module 102 is used to obtain the particle cloud at the current position generated based on the result of the PDR, and the path number where the particle cloud at the current position is located;

[0100] The particle update module 103 is used to obtain the curr...

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Abstract

The invention provides a map matching and locating method and system based on particle filter. The method comprises the following steps: disintegrating a feasible domain of an indoor environmental map into a rectilinear road feasible region and a cross region, and numbering paths contained in the regions; acquiring a particle cloud of a current location generated according to a PDR result and a number of the path at which the particle cloud of the current location is located; acquiring the current location of the particle cloud, variance of the current location, a step length, an estimated error of the step length, a course angle and an error of the course angle, updating a particle state, and obtaining the updated particle cloud; and according to the number of the path, judging a region in which a particle in the updated particle cloud is located, adjusting a weight of each particle in the updated particle cloud, and obtaining a locating result. By adopting the particle filter method, the particle cloud is established for the indoor environment map based on a locating solution and the error of the locating solution, and the locating solution is obtained in a way of adjusting and updating the particle cloud by virtue of the particle weight, so that the indoor location is realized, and the locating precision is improved.

Description

technical field [0001] The invention relates to the field of indoor positioning, in particular to a particle filter-based map matching positioning method and system. Background technique [0002] With the development of wireless positioning technology and people's continuous pursuit of quality of life, positioning requirements extend from outdoor to indoor. Indoor location information is gradually playing an important role in daily life. Outdoors are mainly provided by GNSS, while indoors are blocked by walls. Generally, indoor GNSS signals are weak or cannot be received, and indoor positioning services cannot be provided. Therefore, indoor positioning methods have received extensive research and attention. [0003] Today, with the development of Location Based Service (LBS) in full swing, in the existing technology, the indoor positioning technology of mobile phone PDR based on sensor data is usually used. PDR is called pedestrian dead reckoning, which mainly calculates an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 蔡明琬任昱晨田晓春
Owner 北京羲和科技有限公司
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