CAJ | 학술논문

由于严重的“遮蔽”现象，卫星导航在室内环境中几乎无法使用。人员自主定位系统作为此条件下的一种有效“补盲”手段，在消防、特战、反恐等方面具有广泛的应用。为了克服人员自主定位中存在的惯性漂移，常常利用辅助信息提高定位精度。在粒子滤波算法框架下，提出一种改进的地图辅助人员定位方法。该方法通过引入粒子的方向加权，充分利用地图信息；克服了传统方法中由地图信息错误导致定位失败的缺点，提高了定位算法的稳健性。通过传感器的实测数据对算法进行验证，新方法随时间变化可保持1 m 的定位精度，相对于传统方法有较大提高。
유우엄중적“차폐”현상，위성도항재실내배경중궤호무법사용。인원자주정위계통작위차조건하적일충유효“보맹”수단，재소방、특전、반공등방면구유엄범적응용。위료극복인원자주정위중존재적관성표이，상상이용보조신식제고정위정도。재입자려파산법광가하，제출일충개진적지도보조인원정위방법。해방법통과인입입자적방향가권，충분이용지도신식；극복료전통방법중유지도신식착오도치정위실패적결점，제고료정위산법적은건성。통과전감기적실측수거대산법진행험증，신방법수시간변화가보지1 m 적정위정도，상대우전통방법유교대제고。
The satellite navigation signal is barely available due to the obscuration indoors.In that condi-tion,the inertial-based system is an effective replacement for pedestrian navigation and has a wide range of ap-plications,such as fire-fighting,special-operation and anti-terrorism.To suppress the drift in inertial-based pe-destrian navigation,many different types of aiding knowledge are adopted.An improved map-aided pedestrian navigation method is proposed under a particle filter framework.In the method,particles are weighted according to the direction information incorporated in the maps,and the location robustness is enhanced by recovering from location failure when partially wrong map information appeared.Based on the author-developed system, several experiments are conducted.The results manifest that the new method can maintain an accuracy of 1 me-ter as time increases,which is a great improvement on the traditional method.