摘要
针对单传感器室内定位存在累积误差大、连续性差的问题,本文顾及行人航迹推算(PDR)与低功耗蓝牙信标(BLE Beacon)良好的互补性,研究了基于移动智能终端的融合PDR/iBeacon的室内定位算法:首先,采用电子罗盘和陀螺仪互补修正航向角法降低了PDR的累积误差,其次结合离线指纹库并利用加权K近邻法实现了iBeacon指纹定位,最后基于扩展卡尔曼滤波器(EKF)实现了PDR/iBeacon融合定位。两组实测结果表明,相较于传统的PDR,电子罗盘和陀螺仪互补修正航向角方法有效地抑制了航向误差的累积。室内行人航程为39和60 m时,融合PDR/iBeacon定位的平均误差分别为0.560、1.802 m,相比改进的PDR和iBeacon指纹定位精度提高了11.81%、25.53%和26.66%、11.75%。融合PDR/iBeacon的室内定位能降低PDR的误差累积和iBeacon定位的波动性,满足用户室内定位的需求。
In view of the problems of large cumulative error and poor continuity in single sensor indoor positioning,it was studied the indoor positioning algorithm based on the fusion of pedestrain dead reckoning(PDR)/iBeacon based on mobile intelligent terminal:Firstly,the method of complementary correction of heading angle by electronic compass and gyroscope was applied to reduce the cumulative error of PDR.Secondly,iBeacon fingerprint location was realized by combining offline fingerprint database and weighted K-nearest neighbor method.Finally,PDR/iBeacon fusion location was realized based on extended Kalman filter(EKF).Two groups of measured experimental results show that compared with the traditional PDR,the method of complementary correction of heading angle by electronic compass and gyroscope effectively suppressed the accumulation of heading error.When the indoor pedestrian range was 39 and 60 m,the average error of the fused PDR/iBeacon location was 0.560 and 1.802 m respectively,which improved the fingerprint location accuracy by 11.81%,25.53%,26.66% and 11.75% compared with the improved PDR and iBeacon.Integrating pdr/ibeacon indoor positioning could reduce the error accumulation of PDR and the volatility of ibeacon positioning,and meet the needs of users for indoor positioning.
作者
陈钰
王宇浩
王亚雪
项赉
张腾飞
张海平
徐莹
CHEN Yu;WANG Yuhao;WANG Yaxue;XIANG Lai;ZHANG Tengfei;ZHANG Haiping;XU Ying(Shandong Provincial Institute of Land Surveying and Mapping,Jinan Shandong 250013,China;College of Geomatics,Shandong University of Science and Technology,Qingdao Shandong 266590,China)
出处
《北京测绘》
2023年第2期280-288,共9页
Beijing Surveying and Mapping
