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Fusion pedestrian positioning method based on position fingerprints and PDR algorithm

A positioning method and fingerprint technology, applied in positioning, measuring devices, navigation calculation tools, etc., can solve the problems of low positioning accuracy of the PDR algorithm, not enough to meet the accuracy requirements of the indoor positioning system, and the inability of the PDR algorithm to determine the initial position. The effect of stability

Active Publication Date: 2021-10-29
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

However, a single PDR algorithm cannot be used as the main algorithm for indoor positioning, because the positioning accuracy of the PDR algorithm is low, which is not enough to meet the accuracy requirements of the indoor positioning system
Moreover, the PDR algorithm cannot determine the initial position, and there is a cumulative error, so it needs to rely on other indoor positioning technologies for auxiliary positioning

Method used

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  • Fusion pedestrian positioning method based on position fingerprints and PDR algorithm
  • Fusion pedestrian positioning method based on position fingerprints and PDR algorithm
  • Fusion pedestrian positioning method based on position fingerprints and PDR algorithm

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Embodiment Construction

[0106] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0107] Such as figure 2 As shown, the present invention provides a kind of fusion pedestrian location method based on location fingerprint and PDR algorithm, comprises following steps S1-step S6:

[0108] S1. Collect reference point positioning data, and perform coordinate conversion to obtain positioning data in the plane coordinate system;

[0109] In this embodiment, the reference point positioning data is obtained fro...

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Abstract

The invention discloses a fusion pedestrian positioning method based on a position fingerprint and a PDR algorithm, and the method comprises the steps: carrying out the coordinate conversion of reference point positioning data, obtaining the positioning data under a plane coordinate system, carrying out the calculation through the position fingerprint algorithm and the PDR algorithm according to the converted positioning data under the plane coordinate system, obtaining the first positioning coordinate and the second positioning coordinate, calculating a fusion judgment value, judging whether a preset fusion threshold value is met or not, if yes, carrying out first-order fusion and second-order fusion through extended Kalman filtering and particle filtering respectively, obtaining final positioning data, and if not, taking the first positioning coordinate as the final positioning coordinate directly. According to the method, indoor positioning data are fused, the positioning precision is improved, the problems that a traditional position fingerprint algorithm is unstable in positioning and a PDR algorithm cannot determine the initial position, is low in positioning precision and has accumulated errors are solved, and the method has the advantages of being low in cost, high in positioning precision and high in adaptability and can be widely applied to multiple scenes.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a pedestrian positioning method based on location fingerprint and PDR algorithm fusion. Background technique [0002] In recent years, with the rapid development of smart phones, people's demand for Location Based Service (LBS) has been increasing, and indoor positioning technology has become one of the hot issues in information technology research. Due to the complex indoor environment, in order to improve the positioning accuracy, a method based on signal strength is generally adopted. Indoor positioning methods mainly include infrared positioning, ultrasonic positioning, radio frequency (RFID) positioning, LED visible light positioning, Bluetooth positioning and Wi-Fi positioning. The first four indoor positioning methods all have high positioning accuracy, but each has its own limitations, such as short signal transmission distance, poor anti-interference ability,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/00G01C21/16G01S5/02
CPCG01C21/20G01C21/005G01C21/165G01S5/0252G01S5/02685G01S5/0269G01S5/0294Y02D30/70
Inventor 武畅杨帆吴鹏张莹游远周奕
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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