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Wireless positioning method based on improved particle filter in complex indoor environment

An indoor environment, particle filtering technology, applied in positioning, radio wave measurement system, navigation through speed/acceleration measurement, etc., can solve problems such as limited filtering effect, and achieve the effect of improving positioning accuracy

Pending Publication Date: 2019-10-15
DONGHUA UNIV
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  • Claims
  • Application Information

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Problems solved by technology

Kalman filtering has limited filtering effect in the environment of nonlinear systems

Method used

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  • Wireless positioning method based on improved particle filter in complex indoor environment
  • Wireless positioning method based on improved particle filter in complex indoor environment
  • Wireless positioning method based on improved particle filter in complex indoor environment

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Embodiment

[0044] The present invention provides a wireless positioning method based on improved particle filter in a complex indoor environment, the process of which is as follows figure 1shown, including the following steps:

[0045] Step 1): Use handheld terminal mobile nodes, particle nodes, and AP nodes. Among them, the mobile node is responsible for periodically collecting the RSSI values ​​​​of each wireless node received at its current location and reporting to the system background. The background compares them with the previously collected RSSI values. Comparing the wireless fingerprint library at various locations in the room to estimate the location of the mobile terminal;

[0046] If the mobile terminal includes a nine-axis inertial navigation module with a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, the dead position of the mobile terminal can be estimated; Estimated data of nodes to predict the velocity and acceleration of mobile nodes...

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Abstract

The invention discloses a wireless positioning method based on improved particle filter in a complex indoor environment, characterized in that a handheld mobile terminal acts as a mobile node to periodically collect received signal strength index values from respective wireless access nodes detected by the same, and to periodically report the received signal strength index values; after receivingthe RSSI value reported at any time, the background matches the RSSI value with a wireless fingerprint database on each location collected in a database in advance to estimate a current location thereof; and if the mobile node integrates nine-axis inertial navigation modules or the like of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer at the same time, the mobilenode can be further used for the estimation of pedestrian navigation location. According to the method disclosed by the invention, an improved particle filter algorithm is combined in a wireless fingerprint positioning system, so that a higher gain of the positioning accuracy of a handheld moving target can be obtained in a non-Gaussian nonlinear complex indoor environment.

Description

technical field [0001] The invention relates to a wireless positioning method based on improved particle filter in complex indoor environment. Background technique [0002] Existing indoor positioning solutions based on Received Signal Strength Indication (RSSI) include two types: channel model-based and fingerprint-based. The first type of scheme estimates the distance between the receiver and the transmitter according to the measured RSSI value through the channel loss model, and then estimates the receiver's position according to the estimation algorithm. However, due to the inherent error factors of the propagation model and the influence of multipath in the room, the accuracy of this method is very low; The measured RSSI value is compared with the wireless fingerprint spectrum of each location, so as to find a location with a similar RSSI value relative to the moving target, thereby estimating the relatively accurate location of the moving target. [0003] When the ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02G01C21/00G01C21/16G01C21/20
CPCG01S5/0252G01S5/0257G01C21/005G01C21/165G01C21/20
Inventor 张磊赵康宁倪琴徐珑婷张光林
Owner DONGHUA UNIV
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