WiFi指纹辅助的惯性传感器室内定位技术研究

WiFi Fingerprint Assisted Inertial Sensor Indoor Positioning Technology

为了提高基于移动终端的室内定位精度,结合Wi Fi指纹定位和传感器惯性导航技术的优点,本文提出了一种Wi Fi指纹辅助的惯性传感器室内定位技术。首先,利用移动终端自带的陀螺仪、加速度传感器和磁力计,通过所提动态阈值调整算法判断行人行走状态,并通过方向检测算法计算行人运动方向。然后,采用改进的地图匹配粒子滤波算法实时计算行人位置,并结合Wi Fi指纹定位信息和惯性传感器导航信息提出联合定位算法周期地校正行人位置。实验结果表明,所提Wi Fi指纹辅助的惯性传感器室内定位技术能够有效提高定位精度。

In order to improve the accuracy of indoor positioning based on the mobile terminal,an inertial sensor indoor positioning technology assisted by Wi Fi fingerprint is designed in this paper. Firstly,the gyroscope,accelerometer,magnetometer are utilized to detect pedestrians walking state and direction by step detection and direction detection algorithm,then the particle filter algorithm based on map matching is propose to estimate pedestrian location in real time. Finally,the joint positioning algorithm is proposed to correct pedestrian location periodically. Simulation results show that the proposed method can effectively improve indoor positioning accuracy.