Indoor positioning method based on particle filtering algorithm

Abstract

The invention discloses an indoor positioning method based on a particle filtering algorithm. The method comprises the following steps: by fusing pedestrian navigation position information of a user after the user walks N steps, WiFi signal strength information and a geomagnetic signal three-dimensional sequence, determining an initial point region through WiFi and determining coordinates of an initial position through geomagnetic accurate positioning; and then verifying the initial point region and the coordinates of the initial position by using the independence of positioning results of a WiFi-based nearest neighbor matching algorithm, a WiFi and PDR (Pedestrian Dead Reckoning)-based particle filtering algorithm and a geomagnetism and PDR-based particle filtering algorithm, so as to keep tracking the positioning to improve the robustness of positioning. On the premise of obtaining accurate pedestrian navigation position information (including step counting and pedestrian directions), the method disclosed by the invention is applicable to four mobile phone placement modes, namely holding steady, swinging, pocketing and backpacking, and is high in positioning precision.

Description

technical field [0001] The invention relates to the field of indoor positioning and tracking, in particular to an indoor positioning method based on a particle filter algorithm. Background technique [0002] With the rapid development of modern mobile communication technology, location-based services (LBS) have gained more and more people's favor, and the realization of low-cost and high-precision indoor positioning algorithms has attracted the attention of many researchers. Now, indoor positioning methods based on WiFi, infrared, Bluetooth, ultra-wideband broadcasting (UWB), geomagnetism, and inertial sensors have received extensive attention from the research community, but ultra-wideband broadcasting (UWB) and infrared technology need to redeploy equipment for positioning. Costly. [0003] In recent years, with the rapid development of wireless local area network (WiFi), WiFi networks have been widely deployed in most indoor environments, that is, APs are widely deployed...

AI Technical Summary

Problems solved by technology

[0007] The present invention mainly aims at the problem that the existing particle filter algorithm based on WiFi and PDR and the particle filter algorithm based on geomagnetism and PDR are prone to failure in positioning and tracking, and the purpose is to provide an indoor positioning method based on particle filter algorithm. Utilize the independence of the particle filter algorithm based on WiFi and PDR, the particle filter algorithm based on geomagnetism and PDR, and the fingerprint matching algorithm based on WiFi in positioning, and check each other to keep the positioning tracking and improve the robustness of positioning

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