摘要
针对光源编码定位系统存在定位不连续、易受遮挡导致定位性能下降等问题,提出了一种光源编码/行人航迹推算(PDR)组合的室内行人定位方法。该方法采用扩展卡尔曼滤波(EKF)对PDR位置和光源编码位置进行融合处理,并运用新息滤波对光源编码位置进行抗差处理。试验结果表明,光源编码+PDR组合算法能有效改善光源编码定位不连续、非视距环境中存在粗差的问题,实现连续、高精度的室内行人定位。
The result of coded-light positioning system is usually discontinuous and has large error in a non-line-of-sight environment.Aiming at this problem,an indoor positioning method of coded light+PDR combination for smartphones is proposed. This method fuses the results of coded-light positioning system and PDR by EKF. And it uses innovation to build a robust filter. Several walking tests show that the method can solve the problem effectively and achieve the goal of continuous and high-precision indoor pedestrian positioning.
作者
闫伟
牛小骥
旷俭
YAN Wei;NIU Xiaoji;KUANG Jian(GNSS Research Center,Wuhan University,Wuhan 430079,China)
出处
《测绘通报》
CSCD
北大核心
2019年第5期7-11,54,共6页
Bulletin of Surveying and Mapping
基金
国家重点研发计划(2016YFB0502202)
