CAJ | 학술논문

基于粒子滤波技术，提出了融合地图信息与传感器信息的室内地图匹配算法，对于在室内定位中由状态空间模型描述的非线性系统，通过非参数化的蒙特卡洛( Monte Carlo)模拟方法来实现递推贝叶斯滤波，将室内地理信息数据、传感器信息、无线定位信息融入到粒子的权重值中，对观测值进行不断修正。实验证明，所提出的基于粒子滤波的地图匹配技术有效解决了由于无线定位结果穿墙、错定至隔壁房间而造成的用户体验差等问题，同时对室内定位结果进行了修正，提高了室内定位精度。
기우입자려파기술，제출료융합지도신식여전감기신식적실내지도필배산법，대우재실내정위중유상태공간모형묘술적비선성계통，통과비삼수화적몽특잡락( Monte Carlo)모의방법래실현체추패협사려파，장실내지리신식수거、전감기신식、무선정위신식융입도입자적권중치중，대관측치진행불단수정。실험증명，소제출적기우입자려파적지도필배기술유효해결료유우무선정위결과천장、착정지격벽방간이조성적용호체험차등문제，동시대실내정위결과진행료수정，제고료실내정위정도。
This paper proposes a new map matching algorithm based on particle filter,which fuses map and sensor information. Firstly,the nonlinear indoor positioning system is described by state space model. Then, the recursive Bayesian filtering is implemented through the parameterized Monte Carlo method,and the in-door geographic data,sensors,wireless positioning information are fused to modify the weights of the parti-cles and the observed value. The experiment shows that the proposed map matching technology can effec-tively solve the user experience problems caused by wrong positioning result. Also,this algorithm improves the indoor positioning accuracy.