【摘要】 为提高室内定位的精度和稳定性,提出了一种基于粒子滤波的WiFi/PDR融合的室内定位方法。在该方法中,移动终端采集WiFi指纹位置信息,建立指纹数据库做WiFi指纹定位。同时,利用移动终端所有的惯性导航器件加速度计、陀螺仪和磁力计,通过一定的动态阈值调整判断行人的行走状态,并完成方向检测。然后采用粒子滤波算法融合WiFi/PDR粒子数据实时计算用户位置。实验结果表明,所提出的新的定位方法在一定程度上降低了PDR定位的累积误差,提升了WiFi定位的连续性和稳定性。该方法有效地提高了定位精度。更多还原

【Abstract】 In order to improve the accuracy and stability of the indoor positioning, a kind of indoor positioning method of particle filter based on WiFi/PDR fusion is put forward. In this method, the WiFi fingerprint location information is collected by the mobile terminal, and the fingerprint database is established. At the same time, using the inertial accelerometer, gyroscope and magnetometer of the mobile terminal,the running state of the pedestrian could be judged by a certain dynamic threshold, and the direction detection is completed. Then the WiFi/PDR particle data is fused and the user’s location is calculated using the particle filter algorithm in real time. The experimental results show that the accumulative error of PDR positioning could be reduced to a certain extent and the continuity and stability of the WiFi positioning could be improved effectively.更多还原