摘要
针对行人航位推算算法中误差积累问题,提出并实现了地图匹配方法,辅助惯性测量装置进行自主定位。根据室内几何布局特征划分矢量域,修正方向传感器数据来确定航向角,同时通过投影匹配模型判定界点的最优坐标,最终进行最佳室内位置估计。经实验证明:在保持惯性传感器短时间内自主性强、定位精度高等优点的同时,该方法能够很好地抑制误差积累,提高定位算法的精度与稳定性。
Due to the error-accumulation issue for position algorithm with inertial sensors, a map-matching method which aided inertial measurement devices for the independent positioning was proposed. According to the character of interior geometric layout, the vector fields was divided, then heading angle was assured by corrected orientation data, and the optimal coordination was found out by projection matching algorithm. The method was proved by ex-perience that in keeping the beneficial of the position algorithm inertial sensors such as independent and short-time precise, eliminating maximize of cumulative errors. It is able to improve the stability and precise of the algorithm simultaneously.
出处
《测绘科学技术学报》
CSCD
北大核心
2014年第5期529-532,537,共5页
Journal of Geomatics Science and Technology
基金
特大城市室内外无缝定位信号体制与系统构建项目(2013AA12A201)
江苏省高校优势学科建设工程项目
关键词
室内定位
惯性测量
地图匹配
行人航位推算
矢量域
indoor positioning
inertial measurement
map matching
pedestrian dead reckoning
vector field
