Positioning method based on single-step robust filtering of course angle information of electronic compass
An electronic compass and heading angle technology, applied in navigation, surveying and navigation, navigation calculation tools, etc., can solve the problems of PDR result deviation, trajectory calculation uncertainty, cumulative error, etc., to improve accuracy and continuity, and weaken observation Gross error influence, effect of reducing calculation error
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[0026] Embodiment 1, a positioning method based on single-step robust filtering of electronic compass heading angle information, such as figure 1 shown, including the following steps:
[0027] S1) Set the initial position S of the pedestrian 0 ;
[0028] S2) According to the initial position S of the walker 0 Start the pedestrian dead reckoning system and use the pedestrian dead reckoning system to start positioning;
[0029] S3) Obtain sensor data through the mobile terminal, the sensor data includes accelerometer data and electronic compass data, and store the electronic compass data in the compass observation data storage file;
[0030] S4) Utilize the accelerometer data to detect the gait, the dead reckoning system of the pedestrian performs gait recognition according to the accelerometer data, and judge whether the pedestrian has advanced one step, if so, then enter step S5); if not, then return to step S3) ;
[0031] S5) Perform robust filtering processing on the si...
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