PDR/GPS的Android终端融合导航方法

Fusion method of Android terminal based on PDR/GPS

针对Android终端设备内置卫星接收模块在城市峡谷和室内环境获取位置信息因信号的衰减、干扰和遮挡等无法准确提供方位信息的现状,该文提出一种航迹推算(PDR)与GPS行人组合导航方法。采用卡尔曼滤波算法对航迹推算和GPS定位信息进行融合处理,有效克服了PDR航向误差随时间累积的问题。基于JAVA语言开发Android终端系统的数据库层、业务逻辑层及UI界面层并完成系统调试。对比性实验结果表明,测试距离206m后获取的GPS与PDR分别解算的位置误差为4.1和8.1m,该文提出的PDR与GPS融合滤波解算的位置误差小于3.2m,定位精度在使用较少传感器的情况下达到较高的水平且保证了良好定位连续性。

Aiming at the fact that the built-in satellite receiving module of Android terminal device when obtains the position information and can not provide the position information precisely due to signal attenuation,interference or blockager,etc,a pedestrian navigation method integrating pedestrians dead reckoning(PDR)and global positioning system (GPS)was proposed.The Kalman filter algorithm was used to fuse the track estimation and GPS positioning information,the accumulation of PDR heading errors over time could be avoided effectively.The system debugging was completed based on JAVA language to develop Android terminal system database layer,business logic layer and UI interface layer.The results of comparative experiments showed that the GPS and PDR obtained by testing the distance of 206m had position errors of 4.1 and 8.1m respectively.The position error of the proposed PDR and GPS fusion filtering solution was less than 3.2m,higher levels were achieved with fewer sensors and good positioning continuity was guaranteed.