摘要
针对个人室内自定位问题,本文提出了基于航姿系统(AHRS)与行人航位推算(PDR)融合的自定位方法。该方法分为4部分:在步频测量中通过加速度计数据变化反映行人步行状态,在步长估计中利用模糊决策的方式获得较为合理的计算步长,在姿态估计中使用AHRS来得到低动态下个人相对精确的姿态信息,在位姿计算中结合步长和姿态数据最终计算得到个人的位姿信息。进行了不同室内环境下的实验以及与PDR方法的仿真对比,实验结果证明了该方法的可行性,仿真对比结果表明了该方法的有效性,室内定位误差不超过0. 5m。
Aimming at personal indoor localization problem,self-positioning method based on attitude heading reference system（ AHRS） and pedestrian dead reckoning（ PDR） fusion is proposed in this work. The method is divided into four parts： pedestrian state is reflected through accelerometer data change in walking frequency measurement; the reasonable calculation step is obtained by using the method of fuzzy decision in step size estimation; relatively accurate attitude information at low dynamic is got by using AHRS in attitude estimation; the pose information is finally obtained by combining the step size and the attitude data in pose updating. Through experiments in different indoor environments and comparison with PDR method,the experimental results prove the feasibility of the method and simulation results show that the proposed method is effective and the indoor location error is no more than 0. 5 m.
作者
彭锐
程磊
代雅婷
赵熙桐
Peng Rui;Cheng Lei;Dai Yating;Zhao Xitong(School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081)
出处
《高技术通讯》
EI
CAS
北大核心
2018年第6期567-574,共8页
Chinese High Technology Letters
基金
国家自然科学基金(61203331
61573263)
湖北省自然科学基金(2014CFB813)
湖北省科技支撑计划(2015BAA018)
湖北省教育厅科研计划重点(D20131105)资助项目
关键词
个人室内自定位
航姿系统(AHRS)
行人航位推算(PDR)
模糊决策
personal indoor self-positioning
attitude heading reference system （ AHRS）
pedestrian dead reckoning （PDR）
fuzzy decision
