一种基于地图匹配辅助行人航位推算的室内定位方法

An Indoor Localization Method Based on Pedestrian Dead Reckoning Aided by Map Matching

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.