Positioning method, system, device and storage medium based on Kalman filter
A Kalman filter and Kalman filter technology, applied in the field of positioning, can solve problems such as errors, affecting positioning accuracy, and pedestrian dead reckoning trajectory distortion
Active Publication Date: 2021-02-09
GUANGZHOU HKUST FOK YING TUNG RES INST
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Problems solved by technology
The PDR algorithm detects pedestrian steps through acceleration sensors, gyroscopes, and magnetometers, calculates the pedestrian's step length and direction, and infers the shape of the pedestrian's trajectory. Limited, and there are many rich geomagnetic interferences in the indoor environment, there are large errors in the judgment of the user's travel direction, which leads to distortion of pedestrian dead reckoning trajectory and affects positioning accuracy
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[0058] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0059] Please refer to figure 1 , the first embodiment of the present invention provides a positioning method based on Kalman filtering, which can be performed by an indoor positioning device, and includes the following steps:
[0060] S11: Obtain the heading angle at the current moment and the heading angle at the previous moment of the intelligent terminal, and calculate the heading angle difference between the heading angle at the ...
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The invention discloses a positioning method, device, equipment and computer-readable storage medium based on Kalman filter. The heading angle difference value of the heading angle at the last moment is used to predict the state vector at the current moment and update the error covariance matrix through the prediction update equation; when the positioning output of the positioning module is not received, the position of the smart terminal is obtained according to the state vector; when When the positioning output of the positioning module is received, the positioning output of the positioning module is obtained as a measurement value, and the state vector and the error covariance matrix are updated through the measurement update equation; according to the updated current moment state vector, the position of the intelligent terminal is obtained. The present invention utilizes The difference direction Kalman filter fuses the difference direction and positioning results, makes full use of the direction change trend, avoids the loss of positioning performance caused by the estimation deviation of the direction, and improves the positioning accuracy.
Description
technical field [0001] The present invention relates to the field of positioning technology, in particular to a positioning method, system, equipment and storage medium based on Kalman filtering. Background technique [0002] With the rapid replacement and popularization of mobile terminals with computing power such as mobile phones, tablets, smart watches, etc., users' demand for location information and navigation services is becoming stronger and stronger. Commonly used outdoor positioning systems are global satellite positioning systems such as GPS and Beidou satellite navigation system. Common indoor positioning solutions are based on various wireless radio frequency signal positioning solutions, such as Bluetooth indoor positioning, WiFi indoor positioning, ultra-wideband indoor positioning technology, ZigBee indoor positioning and RFID tag indoor positioning, etc. There are also solutions based on sound waves and LED lights Indoor positioning solutions, and the combi...
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IPC IPC(8): G01C21/20
Inventor 陈辞高民张弢张骁王周红
Owner GUANGZHOU HKUST FOK YING TUNG RES INST