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Indoor positioning method based on improved particle filtering

A particle filter and indoor positioning technology, applied in positioning, radio wave measurement systems, measurement devices, etc., can solve the problems of inertial navigation system cumulative error, WiFi fingerprint mismatch, etc., and achieve low cost and high robustness , easy to extend the effect

Pending Publication Date: 2021-11-16
SHANGHAI SECOND POLYTECHNIC UNIVERSITY
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AI Technical Summary

Problems solved by technology

Papers and patents propose many innovative algorithms to improve the accuracy of indoor navigation and positioning, but the cumulative error of the inertial navigation system and the mismatching of WiFi fingerprints have not been effectively resolved, and further research is needed on positioning accuracy and robustness

Method used

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  • Indoor positioning method based on improved particle filtering
  • Indoor positioning method based on improved particle filtering
  • Indoor positioning method based on improved particle filtering

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Experimental program
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Embodiment Construction

[0062] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to describe the technical solution of the present invention in detail.

[0063] figure 1 It is a flow chart of the indoor positioning method based on the improved particle filter of the present invention, figure 2 It is a schematic diagram and a real track of the floor plan of the building in the present invention, image 3 Improve particle filter positioning results for the present invention, such as Figure 1-3 Shown: a kind of improved indoor positioning method of particle filter provided by the present invention, described indoor positioning method of improved particle filter is as follows:

[0064] Step 1: Data collection in the offline phase: Use line segments to replace walls and desks, simplify walls and desks, and build a map containing coordinates;

[0065] Step 2: In the offline stage, combined with the position of the reference point in the po...

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Abstract

The invention provides an indoor positioning method based on improved particle filtering, relates to the technical field of indoor positioning of inertial sensors and WiFi, and aims to provide a meter-scale indoor positioning method free of infrastructure. The indoor positioning method comprises an inertial navigation system module, a WiFi matching module and an improved particle filtering fusion module. The inertial navigation system module comprises pedestrian direction estimation, step length estimation and pedestrian dead reckoning; the WiFi matching module comprises WiFi fingerprint database construction in an offline stage and WiFi fingerprint matching in an online stage; and the improved particle filtering fusion module introduces a differential evolution algorithm to improve particle weight, enhance particle diversity and relieve the problem of particle depletion. The indoor positioning method does not need to deploy extra infrastructures, and has the characteristics of easy expansion, low cost, meter-scale positioning precision, high robustness and the like.

Description

technical field [0001] The present invention relates to an improved particle filter indoor positioning method, in particular to an improved particle filter indoor positioning method that does not need to deploy additional infrastructure and has the characteristics of easy expansion, low cost, meter-level positioning accuracy, and high robustness. method. Background technique [0002] Based on the rapid development of the location-based service industry, indoor positioning technology, one of its core technologies, has received extensive attention. At present, there are many indoor positioning technologies, such as inertial navigation system, WiFi, RFID, UWB, infrared, geomagnetism, map matching, etc. Different positioning technologies have different advantages and disadvantages. The inertial navigation system does not rely on external information, and can continuously provide information such as carrier position, attitude, and speed in real time. However, the inertial navi...

Claims

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Application Information

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IPC IPC(8): G01S5/02
CPCG01S5/0252
Inventor 陈建宋绍京
Owner SHANGHAI SECOND POLYTECHNIC UNIVERSITY
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