融合多模传感器的室内实时高精度轨迹生成

Multi-sensor Fusion Based Indoor Real-time and Highly Accurate Trajectory Generation

提出了一种融合多模传感器的室内实时高精度轨迹生成方法,亦即将室内Wi-Fi定位与传感器定位结合起来,生成用户在室内移动的实时轨迹。首先由Wi-Fi定位出用户的初始位置,然后结合Wi-Fi定位的结果以及多个传感器的数据,得到用户的运动速度以及方向,通过航迹推算算法得到用户下一时刻的位置,最后对得出的位置坐标进行卡尔曼滤波处理,得到用户的位置坐标,最终生成用户移动的实时轨迹。实验结果表明,该方法可以得到比Wi-Fi定位更为平滑稠密的移动轨迹,且精确度比其他同类方法更高。

This paper proposed a multi-sensor fusion based indoor real-time and highly accurate trajectory generation method.Combing the Wi-Fi location and sensors based location,the proposed method can generate the real-time trajectory in indoor area.This method gets the initial position by Wi-Fi location,and then obtains the real-time velocity and heading orientation based on sensors to calculate the next position by dead reckoning method.Finally,Kalman filter is used to get a smoother trajectory.The experiment results show that this proposed method can get more smoother and denser trajectory than the Wi-Fi positioning,and can get higher tracking accuracy than some other similar methods.