Indoor Positioning Error Suppression via Particle Filter Fusion
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Solution Overview
Problem
Existing indoor positioning technologies based on intelligent terminals face challenges such as error accumulation over time and distance, low accuracy in non-line of sight environments, and weak anti-multipath capabilities.
Innovation Solution
A passive combined indoor positioning system and method that utilizes an intelligent terminal sensor and a particle filter to perform dead reckoning, geomagnetic matching, and error correction, thereby suppressing error accumulation and improving positioning continuity and reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If dead reckoning is used for indoor positioning based on inertial sensors, then positioning can be performed without external signals, but positioning error accumulates with time and moving distance
Solution Approach 1:
The system uses geomagnetic field measurements as feedback to correct the accumulated errors in dead reckoning positioning. The particle filter continuously compares the estimated position with actual geomagnetic fingerprint measurements and adjusts the position estimate accordingly, preventing error accumulation over time and distance.
Solution Approach 2:
The system combines multiple positioning methods (dead reckoning using accelerometer/gyroscope data and geomagnetic fingerprinting) into a composite positioning solution. This fusion of different sensing modalities through particle filter enables the system to maintain both positioning availability and accuracy that neither method could achieve alone.
2Ease of manufacture
If Bluetooth or WiFi signals are used for positioning, then positioning can be achieved using existing infrastructure, but positioning accuracy is affected by indoor environment and multipath effects
Solution Approach 1:
The system replaces radio frequency-based positioning (Bluetooth/WiFi) with inertial sensing and geomagnetic field-based positioning. This substitution eliminates the problems of signal multipath effects and environmental interference inherent in RF-based systems, providing more stable and accurate positioning in indoor environments.
3Ease of manufacture
If cellular network base stations are used for positioning, then positioning can be performed using existing communication infrastructure, but positioning accuracy is low due to non-line of sight environment
Solution Approach 1:
The system replaces RF-based cellular network positioning with inertial measurement unit (IMU) based dead reckoning combined with geomagnetic fingerprinting. This substitution enables positioning that is independent of line-of-sight requirements and communication base station geometry, achieving higher accuracy in urban canyons and indoor environments where RF signals suffer from non-line-of-sight conditions.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively suppresses error accumulation, enhances positioning accuracy and reliability, and achieves wide application in indoor environments by integrating dead reckoning and geomagnetic matching techniques.
Implementation Method 1
a dead reckoning module configured to detect a gait of the target user based on an acceleration peak threshold, a time threshold, and the acceleration data in the sensor data of the current location
Implementation Method 2
a data collection module configured to collect sensor data of a current location, where the sensor data includes geomagnetic data, angular velocity data, and acceleration data
Data Source
AI summary
A passive combined indoor positioning system and method based on an intelligent terminal sensor, and is applied to the technical field of real-time positioning, can include a data collection module, a dead reckoning module, a geomagnetic matching determining module, a single-point matching module, a sequence matching module, a single-point positioning module, a sequence positioning module, and an error correction module. The system collects sensor data of a current location by using an intelligent terminal, and performs dead reckoning and geomagnetic matching based on the sensor data of the current location, so as to obtain a fusion positioning result of the current location through particle filter.