An Indoor Positioning Method Fused with Fuzzy Logic Judgment and Map Information

Abstract

The invention discloses an indoor positioning method fusing fuzzy logic judgment and map information, and relates to the field of indoor positioning. The indoor positioning method fusing fuzzy logic judgment and map information comprises the following steps of step 1: estimating an indoor pedestrian trajectory; step 2: firstly determining whether to enable a fusion algorithm or simply use direction angle data of a certain optimal state based on an adaptive weight direction angle fusion algorithm of fuzzy logic judgment, adaptively adjusting the weight to select a fusion algorithm suitable forthe current state according to the data actually collected by a gyroscope and a magnetometer if determining that the fusion algorithm is enabled, determining the correlation of the two by giving a correlation threshold between the gyroscope and the magnetometer and determining the walking state by using the direction angle of the magnetometer, determining whether to add the previous direction angle, and finally fusing according to the fixed weight; and step 3: adding a landmark identified by the WiFi peak point based on the map matched particle filter to correct the particle position.

Description

Technical field [0001] The present invention relates to the field of indoor positioning, and more particularly to a indoor positioning method for fusion fuzzy logic judgment and map information. Background technique [0002] With the arrival of the digital information age, location-based service (LBS) has become increasingly important, and has broad application prospects in fire rescue, medical services, parking positioning and other aspects. Global Positioning Systems (GPS) can basically meet pedestrians in outdoor positioning requirements, but due to the occlusion of the indoor complex environment to the GPS signal, the GPS is positioned indoors, so the indoor positioning has become a new research hotspot. . Typical indoor positioning techniques mainly include wireless network-based fingerprint positioning, Pedestrian DEAVIGATION SYSTEM (INS) method, PDR) method, triangular three-side positioning method, based on infrared positioning and Based on RadioFrequency, RF). With the p...

AI Technical Summary

Problems solved by technology

[0005] Simply adding landmarks to correct the PDR positioning results, the accuracy of the positioning results will depend too much on the number of landmarks, more landmarks need to consume a lot of manpower and material resources, and fewer landmarks may cause the calibrated position to be different from the previous one. There is a large position difference in the position at a time, resulting in unsatisfactory final positioning accuracy

[0006] Although there is no cumulative error in the WiFi positioning results, the WiFi signal is susceptible to interference and fluctuations, resulting in poor positioning results, thereby reducing the overall fusion positioning accuracy

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