摘要
为提高WiFi室内定位的精度,对线性卡尔曼滤波融合WiFi与惯导定位数据的方法进行了研究。阐述了数据融合所具有的优势,分析了卡尔曼滤波的原理与过程,详细推导了将线性卡尔曼滤波应用于融合定位过程的全部计算公式,其中包括协方差阵估计公式。通过实地实验发现,应用本方法后,定位精度由2.81m提高到了1.95m。相对于传统的常用的非线性卡尔曼滤波和无迹卡尔曼滤波进行融合定位的方法,本方法具有形式简单,易于实现,计算量小且精度高的优点。
In order to improve the accuracy of WiFi indoor positioning,the method of applying linear Kalman filter to fusion of WiFi and inertial navigation positioning data is studied.This paper describes the advantages of data fusion,analyzes the principle and process of Kalman filter and deduces in detail all the formulas of the process of applying linear Kalman filter to fusion positioning,including the estimation formula of the covariance matrix.Through the field experiment,after the application of this method,the positioning accuracy is improved from 2.81 m to 1.95 m.Compared with the traditional nonlinear Kalman filter fusion and Unscented Kalman filter fusion,this method has the advantages of simple form,easy implementation,low computational complexity and high precision.
出处
《电子测量技术》
2017年第4期1-4,共4页
Electronic Measurement Technology
