摘要
室内定位中行人航迹推算(PDR)方法是最便捷的定位方法之一,其缺点是随着移动距离的增加累积误差会越来越大。利用蓝牙峰值纠正算法能有效降低PDR的累积误差,但蓝牙信号在多蓝牙基站中存在伪峰、错峰的问题,针对上述问题提出了基于PDR的蓝牙峰值检测方法。首先,根据PDR位置估计信息和蓝牙分布信息计算预测概率,筛选前进方向最接近的蓝牙,减少错峰;其次,根据信号的变化计算自适应阈值输出开关信号寻找波峰以检测真实峰值,减少伪峰;最后采用改进的蓝牙峰值纠正算法对PDR位置估计进行纠正。实验结果表明,在安卓智能手机上,峰值检测正确率可达到82.1%,与传统滑动窗峰值检测法相比能有效地减少伪峰和错峰的干扰,降低PDR的累积误差。
In indoor localization, PDR method is one of the most convenient localization methods, but the cumulative error will get larger as the distance traveled increases. The use of Bluetooth peak correction algorithm can effectively reduce the cumulative error of PDR, but the Bluetooth signal has the problem of pseudo-peak and mis-peak in multi-Bluetooth base stations. To address the above problems, this paper proposed a PDR-based Bluetooth peak detection method. The method first calcula-ted the prediction probability based on the PDR position estimation information and Bluetooth distribution information to filter out the closest Bluetooth in the forward direction, thus reducing false peaks. Secondly, it calculated the adaptive threshold based on the change of the signal, thus outputting the switching sate to find the wave peak, to detect the true peak and reduce the false peak. Finally, this paper used an improved Bluetooth peak correction algorithm to correct the PDR position estimation. The experimental results show that the proposed method can achieve a correct peak detection rate of 82.1% on Android smartphones. Compared with the traditional sliding window peak detection method, it can effectively reduce the interference of pseudo-peaks and false peaks, and reduce the cumulative error of PDR.
作者
马培兴
王玫
周陬
宋志远
唐清华
Ma Peixing;Wang Mei;Zhou Zou;Song Zhiyuan;Tang Qinghua(College of Information Science&Engineering,Guilin University of Technology,Guilin Guangxi 541006,China;Key Laboratory of Cognitive Radio&Information Processing of Ministry of Education,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)
出处
《计算机应用研究》
CSCD
北大核心
2022年第3期851-856,共6页
Application Research of Computers
基金
国家自然科学基金资助项目(62071135)
广西科技重大专项资助项目(创新驱动发展专项)(桂科AA18118039)
广西科技计划资助项目(桂科AD18281044)
认知无线电与信息处理省部共建教育部重点实验室主任基金资助项目(CRKL190104)
广西重点研发计划资助项目(桂科AB17292058)。
关键词
室内定位
行人航迹测算
峰值检测
蓝牙
indoor positioning
pedestrian dead reckoning(PDR)
peak detection
Bluetooth
