Indoor personnel positioning method based on Bluetooth, PDR and map matching fusion
A technology of personnel positioning and map matching, applied in geographic information databases, short-distance communication services, electrical components, etc., to achieve the effect of suppressing volatility and improving accuracy and stability
Inactive Publication Date: 2022-06-10
中冶武勘智诚(武汉)工程技术有限公司 +1
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[0003]UWB positioning is to analyze the position of the tag by multiple sensors using TDOA (Time Difference of Arrival) and AOA positioning algorithm, which has multi-path resolution ability and high precision High, positioning accuracy can reach centimeter level, etc., but the base station is expensive and the deployment cost is high
[0004]The main features of Wi-Fi positioning technology are high transmission rate, high reliability, fast and convenient network construction, good mobility, and low networking price; but often The external interference is relatively large, and the positioning error is relatively large, and its power consumption is also large
[0005] Pedestrian trajectory derivation and positioning method is a relative positioning method based on pedestrian gait characteristics. In the case of known starting position, it uses sensor data Change, estimate the number of steps, step length and heading of the pedestrian, so as to determine the position of the pedestrian; the advantage of PDR is the autonomy and consistency of positioning, not limited by the complex indoor environment, and has good positioning accuracy in a short time; but PDR can only do relative positioning, and there are cumulative errors, which will easily lead to a sharp drop in positioning accuracy for a long time
[0006]Bluetooth positioning technology utilizes the advantages of short distance and low power consumption of bluetooth. In the basic network connection mode, positioning is performed by measuring the Received Signal Strength Indicator (RSSI) of the Bluetooth AP; however, the stability of the Bluetooth positioning technology for complex space environments is slightly poor, and it is greatly interfered by noise signals, and its performance through walls is poor. Difference
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[0043]The specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The present description may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.
[0044] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instructi...
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The invention discloses an indoor personnel positioning method based on Bluetooth, PDR and map matching fusion, and the method comprises the following steps: S1, arranging a plurality of Bluetooth beacons indoors, dividing an indoor environment into a plurality of different sub-regions, obtaining the fingerprint information of a central positioning reference point of each sub-region, and storing the fingerprint information in a database; storing the fingerprint information of all the positioning reference points in a fingerprint database; s2, acquiring RSSI (Received Signal Strength Indicator) data of a plurality of Bluetooth beacons received by a mobile phone terminal of a user, and calculating a Bluetooth fingerprint preliminary positioning result of the mobile phone terminal; s3, correcting the preliminary positioning result of the Bluetooth fingerprint by adopting a particle filtering algorithm and a PDR positioning algorithm; and S4, constructing an indoor map based on a vector representation method, correcting the phenomena of particle wall penetration and track wall penetration by using the indoor map, and carrying out secondary correction on the corrected positioning result in the step S3. According to the method, the volatility of Bluetooth positioning and the drifting error accumulated by PDR positioning are effectively inhibited, and the accuracy and the stability of a fusion positioning system are improved.
Description
technical field [0001] The invention belongs to the technical field of indoor positioning, and in particular relates to an indoor personnel positioning method based on Bluetooth, PDR and map matching fusion. Background technique [0002] At present, the demand for indoor navigation and positioning is increasing, but outdoor positioning technologies such as Global Navigation Satellite System (Global Navigation Satellite System, GNSS), General Packet Radio Service / Code Division Multiple Access (GPRS / CDMA) positioning, etc. are difficult to apply in indoor places. Indoor positioning generally uses terminals to send ultra-wideband (Ultra Wideband, UWB), Wi-Fi and other short-range communication signals and then receive them through multiple receiving devices, or use inertial navigation devices (Microelectro Mechanical Systems, MEMS) to deduce and locate pedestrian tracks ( Pedestrian Dead Reckoning, PDR). [0003] UWB positioning uses multiple sensors to analyze the position of...
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IPC IPC(8): H04W64/00H04W4/80G06F16/29
CPCH04W64/00H04W4/80G06F16/29
Inventor 袁怀月汪畅刘琳敏史蕾
Owner 中冶武勘智诚(武汉)工程技术有限公司