针对地磁场在室内定位中存在模糊解及行人航位推算(PDR)存在累积误差的问题,提出了PDR和地磁融合的室内定位方法.利用了PDR短期精度高的优点,以PDR定位结果为中心缩小地磁匹配区域,采用粒子滤波算法解决地磁指纹的模糊解问题,达到实时修正PDR累积误差的目的.与传统PDR相比,采用了自相关法探测行人不同步态下的步频,提高了步频探测的准确率.通过对实际室内环境进行实验仿真,本文提出的室内定位方法能够有效减少定位误差,实现了2m的定位精度.%Due to the problem of fuzzy solution of magnetic field indoors and accumulated error in PDR,this paper presents the fused indoor positioning method,which based on PDR and magnetic to achieve the purpose of real-time correction in PDR systems localization error accumulated by time,taking the advantage of short-term accuracy in PDR to narrow the field of magnetic matching based on the positioning result of PDR,solving the problem of the fuzzy solution in the magnetic fingerprints by particle filter algorithm. Compared with the traditional PDR,the pro-posed method improves the detecting accuracy of the stride frequency, which applies autocorrelation method to detect the pedestrian stride frequency in different gait. Through a series of experiments and tests,the results show that the proposed technique in this paper can effectively achieve 2 meters precision in a large building.
展开▼
