基于可信度的地磁与惯导联合室内定位系统

Geomagnetic and Inertial Navigation Combined Indoor Positioning System Based on Credibility

针对目前室内定位系统在前期数据采集阶段耗时耗力和定位过程中易受干扰导致定位精度低等问题,提出了离线构建惯导地磁基准库和在线基于可信度的联合定位算法。与传统的地磁与惯导信息融合相比,通过使用动态步长估计算法和方位角估计算法改进的离线阶段地磁基准库,在确保基准库数据准确有效的前提下,大大缩短了构建基准库所耗费的时间,并且降低了人力成本。同时在线阶段融合地磁匹配与惯导匹配中的确定性信息,通过基于可信度的定位算法获得最终节点位置。经实际环境实验结果表明,提出的定位方法,能够有效地降低系统的前期数据采集复杂度,减少定位误差,实现2 m的定位精度。

In view of the current time-consuming effort of the indoor positioning system in the early data collection phase and the low positioning accuracy caused by the interference during the positioning process,this paper proposes an off-line construction of an inertial magnetic reference library and an on-line trust-based joint positioning algorithm. Compared with the traditional geomagnetic and INS information fusion,the off-line phase geomagnetic reference library improved by using the dynamic step size estimation algorithm and the azimuth angle estimation algorithm can greatly shorten the construction of the reference library under the premise of ensuring the accuracy and efficiency of the reference library data. It takes time and reduces labor costs. At the same time,the deterministic information in geomagnetic matching and inertial matching is fused in the online phase,and the final node position is obtained by a location algorithm based on credibility. The results of actual environmental experiments show that the positioning method proposed can effectively reduce the complexity of the system ’ s early data collection,reduce the positioning error,and achieve a positioning accuracy of2 meters.