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High-precision indoor fusion positioning method based on gsm/mems fusion

A positioning method and internal fusion technology, applied in the direction of navigation, navigation, instruments, etc. through speed/acceleration measurement

Active Publication Date: 2020-12-22
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, sensor-based positioning can only determine the relative position of moving targets

Method used

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  • High-precision indoor fusion positioning method based on gsm/mems fusion
  • High-precision indoor fusion positioning method based on gsm/mems fusion
  • High-precision indoor fusion positioning method based on gsm/mems fusion

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Embodiment Construction

[0086] The present invention will be further described below in conjunction with accompanying drawing.

[0087] Such as figure 1 As shown, the high-precision indoor fusion positioning method based on GSM / MEMS fusion of the present invention mainly includes: GSM position fingerprint positioning module, MEMS data calculation module and robust extended Kalman filter module.

[0088] ●GSM position fingerprint positioning module: Match the RSSI information collected in the online phase with the offline fingerprint database, and use the Weighted K-Nearest Neighborhood (WKNN) positioning algorithm to calculate the position.

[0089] ●MEMS sensor data processing module: According to the information output by the accelerometer, gyroscope, and magnetometer, the speed and heading of the pedestrian are calculated by using methods such as gait detection, data update rate, and quaternion method to update the attitude matrix.

[0090] ●Robust extended Kalman filter module: use the absolute ...

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Abstract

The invention discloses a high-precision indoor fusion positioning method based on GSM / MEMS fusion. The method comprises the following steps: first, performing position fingerprint positioning by adopting searching and matching by utilizing position fingerprint characteristics caused by multipath and non-line-of-sight transmission of a GSM radio signal; then, resolving the walking speed and the course angle of a target pedestrian according to output data of an inertial sensor device, and obtaining relative position information of a user; finally, fusing position results output by the GSM and the MEMS by utilizing an anti-tolerance extended Kalman filter. According to the method, a position fingerprint positioning result in a GSM environment and the output data of the MEMS are combined by introducing the anti-tolerance extended Kalman filtering algorithm, so that the advantages of positioning systems compensate each other; the influence on positioning precision caused by an accumulative error in an MEMS device positioning and RSSI disturbance in GSM positioning can be overcome effectively; a positioning blind spot can be covered in all directions; a high-precision positioning effect is realized in indoor environment.

Description

technical field [0001] The invention belongs to indoor positioning technology, in particular to a high-precision indoor fusion positioning method based on GSM / MEMS fusion. Background technique [0002] Location Based Service (LBS) brings great convenience to people's daily life, and the huge positioning market demand promotes the rapid development of positioning technology. As a supplement to the Global Positioning System (GPS), indoor high-precision positioning has broad market prospects. In terms of active positioning, indoor positioning technology can bring great convenience to occasions such as fire and mine search and rescue, medical rescue, logistics management, and equipment monitoring. At the same time, in terms of passive positioning, through data mining and big data analysis, targeted product Information push, child monitoring and purposeful guidance have a wide range of application values. [0003] At present, the mainstream indoor positioning systems include ra...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/18
CPCG01C21/165G01C21/18
Inventor 周牧刘仪瑶舒月月谢良波聂伟杨小龙田增山王向勇
Owner CHONGQING UNIV OF POSTS & TELECOMM
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