计算机工程
計算機工程
계산궤공정
COMPUTER ENGINEERING
2013年
7期
293-297,301
,共6页
室内定位%个人航位推测%步长%定位误差%微机电系统传感器%航向角
室內定位%箇人航位推測%步長%定位誤差%微機電繫統傳感器%航嚮角
실내정위%개인항위추측%보장%정위오차%미궤전계통전감기%항향각
indoor localization%Personal Dead Reckoning(PDR)%stride length%positioning error%Micro Electro Mechanical System (MEMS) sensor%azimuth angle
针对室内定位的个人航位推测(PDR)中漂移导致定位误差累积的问题，提出一种微机电系统传感器整合的 PDR 算法。根据典型计步器原理及步长估算获取位移信息，在计步算法中加入动态时间窗口及动态加速度阈值，以得到更精确的计步结果。利用捷联航向角校正磁航向角得到校正后的航向角，以修正定位中的累积误差。实验结果表明，室内定位精度距离误差可控制在5%以内，计步结果精度高，易于求得航向角，又能在一定程度上校正长时间漂移等因素带来的位置误差。
針對室內定位的箇人航位推測(PDR)中漂移導緻定位誤差纍積的問題，提齣一種微機電繫統傳感器整閤的 PDR 算法。根據典型計步器原理及步長估算穫取位移信息，在計步算法中加入動態時間窗口及動態加速度閾值，以得到更精確的計步結果。利用捷聯航嚮角校正磁航嚮角得到校正後的航嚮角，以脩正定位中的纍積誤差。實驗結果錶明，室內定位精度距離誤差可控製在5%以內，計步結果精度高，易于求得航嚮角，又能在一定程度上校正長時間漂移等因素帶來的位置誤差。
침대실내정위적개인항위추측(PDR)중표이도치정위오차루적적문제，제출일충미궤전계통전감기정합적 PDR 산법。근거전형계보기원리급보장고산획취위이신식，재계보산법중가입동태시간창구급동태가속도역치，이득도경정학적계보결과。이용첩련항향각교정자항향각득도교정후적항향각，이수정정위중적루적오차。실험결과표명，실내정위정도거리오차가공제재5%이내，계보결과정도고，역우구득항향각，우능재일정정도상교정장시간표이등인소대래적위치오차。
Because of the accumulation of positioning errors due to the drift of Personal Dead Reckoning(PDR) for indoor localization, this paper puts forward a Micro Electro Mechanical System(MEMS) sensor integration of PDR algorithm. It includes the following three points:It obtains displacement information based on typical pedometer principle and stride length estimate, joins dynamic time window and acceleration threshold in stride calculation algorithm, and gets the angle between the walking direction and magnetic north direction with the magnetometer and gyroscope to correct the positioning accumulative error. It realizes indoor location and navigation. The result proves that the distance errors of indoor localization experiment can be controlled within 5%, and the stride calculation is highly precise, the azimuth algorithm is easy to deal with, and it can rectify error because of long time drift in certain extent.
