摘要
室内行人定位是位置服务的重要基础,地磁信号具有被随时感知的特点,基于地磁信号的定位方法一直是室内行人定位研究的一个热点。针对当前基于粒子滤波融合定位存在累计误差大、定位精度较低的问题,本文提出变长地磁序列辅助PSO-PF的室内行人定位方法。首先,在传统粒子滤波算法的基础上,融合粒子群算法进行最佳位置寻优提升实时定位的准确性;然后,建立了DTW-A^(*)算法获取变长地磁序列对一段时间累计误差进行修正,以解决基于粒子滤波定位方法的累计误差问题;最后,通过试验将本文方法与现有主流定位方法进行比较。结果表明,本文方法在室内行人定位方面平均误差为0.90 m,比PDR、MaLoc和Magicol方法分别降低了73.1%、68.0%和63.8%。其中,本文方法1.43 m定位精度达90%,比PDR、MaLoc和Magicol方法分别提升了75.1%、68.4%和67.7%。此外,在不同型号手机上进行的试验结果表明,本文方法不仅适用且表现稳定,有望为不同设备的室内定位提供支持。
Indoor pedestrian positioning serves as a crucial foundation for location-based services,with geomagnetic signals being continuously perceived,making them a focal point in indoor pedestrian positioning research.Addressing the challenges of significant cumulative errors and low positioning accuracy in current particle filter fusion positioning,this paper proposes an indoor pedestrian positioning method:variable-length geomagnetic sequence assisted PSO-PF.Building upon traditional particle filter algorithms,this method integrates particle swarm optimization for optimal position to enhance real-time positioning accuracy.Subsequently,a DTW-A^(*)algorithm is established to correct cumulative errors over time for variable-length geomagnetic sequences,address the cumulative error problem associated with particle filter-based positioning methods.Experimental comparisons with existing mainstream positioning methods demonstrate that the proposed method achieves an average error of 0.90 m in indoor pedestrian positioning.The average error is reduced by 73.1%,68.0%,and 63.8%compared to PDR,MaLoc,and Magicol methods,respectively.Notably,the proposed method achieves a 1.43 m positioning accuracy at 90%,showing a relative improvement of 75.1%,68.4%,and 67.7%compared to PDR,MaLoc,and Magicol methods,respectively.Furthermore,experimental results on different models of smart phones indicate that the proposed research method is not only applicable,but also stable,offering potential support for indoor positioning across various devices.
作者
何正伟
孙炳源
HE Zhengwei;SUN Bingyuan(School of Navigation,Wuhan University of Technology,Wuhan 430063,China)
出处
《测绘通报》
CSCD
北大核心
2024年第7期17-23,共7页
Bulletin of Surveying and Mapping
基金
湖北省重点研发计划(2023BAB013)
浙江省科学技术厅重点研究计划(2021C01010
ZJJKY2021-DY-016)
国家自然科学基金重点项目(52031009)。
关键词
地磁室内行人定位
PSO-PF
地磁序列
行人航迹推算
geomagnetic indoor pedestrian positioning
PSO-PF
geomagnetic sequences
pedestrian trajectory estimation
