基于PDR与蓝牙区段匹配的室内融合定位算法

An Indoor Integrated Position Algorithm Based on PDR and Bluetooth Segment Matching

针对行人航迹推算(Pedestrian Dead Reckoning)和蓝牙室内定位各自的特点及存在的问题,提出一种基于PDR和蓝牙区段模糊匹配的室内融合定位算法.根据用户与蓝牙信标距离匹配用户大概率所在区段,采用方向构建算法建立并反复纠正当前方向,依靠蓝牙不断修正PDR累积误差,最终使用防回退算法确定本次定位位置.实验表明,在地下环境中能够修正90%以上的定位误差到1.5m以下.利用PDR短期内高可靠性特点和蓝牙定位修正偏差,保证室内较高精度、较低时延的定位导航体验.

Aiming at the characteristics and existing problems of Pedestrian Dead Reckoning and Bluetooth indoor positioning,an indoor integrated positioning algorithm based on PDR and Bluetooth segment fuzzy matching is proposed.According to the distance between the user and the Bluetooth beacon,match the user's large probability zone.Then the direction construction algorithm is used to establish and repeatedly correct the current direction and the cumulative error of PDR is continuously corrected by using Bluetooth.Finally the anti-rollback algorithm is used to determine the final position.Experiments have shown that it is possible to correct more than 90%of the positioning error to less than 1.5 meters in the underground environment.Utilize PDR short-term high reliability features and Bluetooth positioning for correcting error to ensure high accuracy and low latency positioning navigation experience.