Pedestrian indoor positioning method based on particle filter

An indoor positioning and particle filtering technology, applied in the direction of navigation, measuring devices, instruments, etc. through velocity/acceleration measurement, can solve the problems of limited integration, high cost, huge cost of inertial navigation system, etc., to avoid cumulative error, average value, etc. and the effect of standard deviation improvement

Inactive Publication Date: 2017-11-10
JIANGSU COLLEGE OF INFORMATION TECH
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Problems solved by technology

For example, GPS/INS solutions use GPS as a manager to correct the accumulated errors of inertial sensors. On the other hand, inertial navigation systems (INS) can also improve the performance of GPS, especially in places such

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  • Pedestrian indoor positioning method based on particle filter
  • Pedestrian indoor positioning method based on particle filter
  • Pedestrian indoor positioning method based on particle filter

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Embodiment Construction

[0047] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0048] Such as Figure 1-5 As shown, the technical solution adopted in the present invention is: a method for indoor positioning of pedestrians based on particle filtering, the method adopts the following steps: a method for indoor positioning of pedestrians based on particle filtering, characterized in that the specific steps of the method are as follows:

[0049]Step 1: Add a MEMS accelerometer and map information to a typical WLAN pedestrian positioning system;

[0050] Step 2: In the RSS-based system, adopting positioning algorithm is pattern matching or K-nearest neighbor (KNN) algorithm, obtains basic positioning model, and this algorithm mainly comprises following two steps:

[0051] (1) In the offline case, measure the received power vectors from multiple access points (APs) at the calibration point and record it as the fingerprint ...

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Abstract

The invention discloses a pedestrian indoor positioning method based on particle filter. RSS measurement, an MEMS acceleration meter and a fused frame model of map information and a particle filtering device are integrated in the method, the MEMS acceleration meter and the map information are additionally arranged in a positioning system, walking distance is estimated based on a movement model of a zero crossing algorithm, the particle filtering device is used for integrating nonlinear information form the MEMS acceleration meter and a building map, accumulated errors caused by noise of sensors are avoided, compared with Kalman filter, the fusing algorithm gets improvement when the average value and standard deviation of the errors are estimated, and robustness is achieved relative to a wrong estimation result of walking distance. Simulation experiments and actual testing results show that compared with Kalman filter, the method gets remarkable improvement when the average value and the standard deviation of the errors are estimated.

Description

technical field [0001] The invention relates to a particle filter-based indoor positioning method for pedestrians, and belongs to the technical field of pedestrian autonomous navigation and positioning. Background technique [0002] Positioning and navigation systems have achieved great success in a wide range of location-based services (LBS) applications such as personnel safety, asset and personnel tracking, intelligent guidance, and location-aware multimedia services. Generally, these systems can be divided into three groups: satellite positioning systems, communication positioning systems and sensor positioning systems. [0003] Satellite positioning systems such as the famous GPS, Beidou, and Galileo systems are mainly suitable for outdoor positioning. However, satellite systems are susceptible to attenuation, reflection and refraction from buildings and walls when positioned in an indoor environment. [0004] The communication positioning system utilizes the existing...

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Application Information

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IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/165G01C21/206
Inventor 华驰王恩亮
Owner JIANGSU COLLEGE OF INFORMATION TECH
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