一种基于无线信号辅助的室内无死角定位算法

An Indoor No-dead-space Positioning Algorithm Based on Wireless Signal Aided Location

针对传统惯性导航系统定位误差随时间积累的问题,提出了一种基于无线信号辅助定位的室内无死角定位算法。该算法首先利用加速度计、陀螺仪、磁力计和气压计等传感器数据实现三维定位,然后利用无线信号对惯导定位中的位置偏差进行实时校正,再通过航向最优估计算法对航向误差进行修正,在位置和航向上增强惯导系统的实用性。利用实验室自主研发的微惯性测量单元固定在腰部脊椎位置进行实验验证,结果显示基于无线信号辅助的室内无死角定位算法精度达到1%以内,与纯惯导技术相比,能够提供更持久和准确的三维位置信息。

Aiming at the problem that the positioning error of traditional inertial navigation system accumulates with time,an indoor no-dead-space positioning algorithm based on wireless signal aided location is proposed.The algorithm firstly uses three-dimensional positioning of sensor data such as accelerometer,gyroscope,magnetometer and barometer,then uses the wireless signal to correct the position deviation in the inertial navigation position in real time,and then corrects the heading error by the heading optimal estimation algorithm.The practicality of the inertial navigation system is enhanced in position and heading.The micro inertial measurement unit independently developed by the laboratory is fixed at the lumbar spine position for experimental verification.The experiment results show that the indoor no-dead-space positioning algorithm based on wireless signal aided location has an accuracy of less than 1%,which can provide more durable and accurate three-dimensional position information than pure inertial navigation technology.