An improved Kalman filter indoor positioning and tracking method based on map information

A Kalman filter, Kalman filter technology, applied in the direction of instruments, navigation, surveying and navigation, etc., can solve the problems of unfavorable tracking and positioning, achieve the effect of improving indoor positioning and tracking effects, and improving positioning and tracking accuracy

Active Publication Date: 2019-11-26
XIDIAN UNIV
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Problems solved by technology

[0010] Using the discrete Kalman filter to process positioning tracking is a method to optimize the results, but because the method will be more biased towards the predicted value after a long period of smooth movement, once a large deviation from the original direction of motion occurs, it will take a while correction process, which is not conducive to tracking and positioning results

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  • An improved Kalman filter indoor positioning and tracking method based on map information
  • An improved Kalman filter indoor positioning and tracking method based on map information
  • An improved Kalman filter indoor positioning and tracking method based on map information

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[0049] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0050] Preferred examples of the present invention will be described in detail below with reference to the accompanying drawings.

[0051] In the environment of indoor corridors, because satellite signals cannot penetrate buildings, satellite positioning technology cannot currently meet people's needs for indoor positioning. At present, indoor positioning based on WIFI generally detects and records the name and strength of WIFI signals at different coordinate points to form a database, and then in the positioning stage, users use the received WIFI information to correspond to specific coordinates to obtain positioning results ...

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Abstract

The present invention belongs to the technical field of indoor positioning, and discloses an improved Kalman filter indoor positioning tracking method integrating map information, and a system thereof. The improved Kalman filter indoor positioning tracking method comprises: (1) determining a basic discrete Kalman filter equation and a corresponding variable; (2) calculating the time updating equation and the measurement updating equation of a standard Kalman filter; (3) judging whether a positioning terminal arrives near a corner by integrating map information; (4) judging whether the positioning terminal makes a turn; and (5) if the positioning terminal makes a turn, adjusting the parameters of the Kalman filter, and correcting the tracking result at the corner. With the method and the system of the present invention, the problem of the poor tracking effect of the existing standard Kalman filter at the corner is solved; and the deviation of the standard Kalman filter positioning tracking method at the corner is reduced, and the positioning tracking precision of the positioning terminal during the turning is improved.

Description

technical field [0001] The invention belongs to the technical field of indoor tracking and positioning, and in particular relates to an improved Kalman filter indoor positioning and tracking method fused with map information, which can be used in an indoor environment covering WIFI signals, and the improved Kalman filter indoor positioning and tracking method through fused map information , to optimize the Wi-Fi location tracking results. Background technique [0002] At present, with the development of wireless networks and the widespread deployment of wireless local area networks, WIFI-based indoor positioning technology has received extensive attention. In the indoor environment covering the WIFI network, by measuring the received signal strength RSS from the access point APs, combined with the collected signal strength database to solve, determine the location of the mobile user. During real-time positioning, due to various factors such as signal fluctuations, multipath...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 卢小峰王建林边海宾张子博刘嘉钰杨二周
Owner XIDIAN UNIV
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