摘要
单个惯性定位导航系统(INS)在室内定位过程中的位移误差会随时间不断的积累,导致定位精度问题。本文提出了一种基于地图信息辅助的多惯导阵列室内定位算法。该方法通过抑制INS位移误差的发散,并辅以地图修正定位轨迹,从而提高室内定位的精度。仿真实验结果表明:加入地图辅助信息的惯导阵列室内定位方案比单个INS定位方案的性能明显改善,位移误差得到了有效抑制,并将平均定位误差控制在1 m左右。
During the process of indoor localization,the localization error via a single inertial navigation system(INS) will accumulate over time,which results in low localization accuracy. This paper proposes an indoor localization algorithm based on map information-assisted multi-inertial arrays. The proposed method effectively improves the accuracy of indoor localization by suppressing the divergence of the INS localization errors combined with the trajectory correction based on the map. The simulation results show that the localization accuracy is prominently improved by utilizing the proposed indoor location method based on map matching and multiple inertial navigation arrays in comparison with single INS ones. Obviously,the localization error is effectively suppressed,and the average positioning error is controlled up to about 1 m.
作者
范亚州
管启
丁德锐
FAN Yazhou;GUAN Qi;DING Derui(School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《智能计算机与应用》
2020年第4期203-207,211,共6页
Intelligent Computer and Applications
基金
国家自然科学基金(61573246,61703277)
上海市自然科学基金(18ZR1427000)
