Method and device for positioning through combination of GPS and PDR

Abstract

The present invention discloses a method for positioning through combination of GPS and PDR (Pedestrian Dead Reckoning). The method comprises the steps of: obtaining a positioning initial GPS point; taking the positioning initial GPS point as a reference point, and initializing a PDR direction by employing a GPS direction; obtaining position information and direction information of a coordinate point generated by the PDR; obtaining a positioning reference GPS point; performing fusion of the positioning initial GPS point, the positioning reference GPS point and the coordinate point generated bythe PDR; determining whether the positioning is finished or not, if not, obtaining travelling direction information of the PDR in a next stage according to the position information of the positioningreference GPS point and the fused direction information; and taking the positioning reference GPS point as a new positioning initial GPS point, taking the new positioning initial point as a referencepoint of the PDR in the next stage, and performing continuous fusion of a new PDR coordinate point generated by the PDR and a new positioning reference GPS point generated by the GPS. The method andthe device for positioning through combination of the GPS and the PDR eliminate direction deviation of the PDR itself and locus inaccuracy generated by the GPS signal deviation, and ensure positioningaccuracy.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to a positioning method and device combining GPS and PDR. Background technique [0002] Most existing positioning algorithms mainly use GPS positioning mode and PDR positioning mode. For the existing smart sports wearable terminal devices, GPS is the main way to record its motion trajectory and calculate the motion distance, but GPS has a large power consumption, and the signal is greatly affected by the weather and surrounding environment (there may be star loss or Inaccurate trajectory and distance caused by drifting points, etc.). For example, the GPS signal may be able to calculate the positioning result after being affected by the occlusion and reflection of tall buildings, but the positioning accuracy is often poor. At this time, if GPS is still used for positioning, the positioning accuracy will be greatly reduced, even without GPS. In the case of a signal, it may be im...

AI Technical Summary

Problems solved by technology

Since PDR positioning cannot guarantee long-distance positioning accuracy, as the deviation of PDR's own step size and direction accumulates, the positioning accuracy will become lower and lower.

[0004] It can be seen from the above that, for the existing smart sports wearable terminal devices, GPS is the main way to record its motion track and calculate the motion distance, but the power consumption of GPS is relatively large, and the signal is greatly affected by the weather and surrounding environment (possibly Inaccurate trajectory and distance due to star loss or drift), so PDR is needed as an aid to make up for some deficiencies in GPS

[0005] For the six-axis PDR algorithm, it can accurately obtain the relative motion trajectory for a period of time, so the PDR can be calibrated by GPS, and the PDR can assist GPS, but the main problem is how to reduce the deviation of the PDR and the accurate motion direction Acquisition, so as to achieve precise positioning

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