基于MEMS传感器组合的行人室内高度定位算法

Pedestrian Indoor Height Localization Algorithm Based on MEMS Sensor Combination

针对气压计易受环境温度影响的问题,该文提出了一种基于微机电系统(MEMS)加速度计和气压计融合的行人室内高度定位算法。该算法分别利用x轴加速度计的峰值特征和z轴加速度计的四分位距特征进行上、下楼判定;然后利用滤除掉气压突跳点的气压计数据进行高度解算;最后行人平走时,将解算高度修正到半层楼高的整数倍,减少高度误差。实验结果表明,该文提出的行人室内高度定位算法不易受环境温度的影响,解算高度与实际楼层高度的误差小于2 m,可将人员定位到正确楼层。

To solve the problem that the barometer is susceptible to ambient temperature,a pedestrian indoor height localization algorithm based on the fusion of MEMS accelerometer and barometer is proposed in this paper.Firstly,the state of going upstairs and downstairs are separately determined by the peak characteristics of x-axis accelerometer and the interquartile range of the z-axis accelerometer.Then the pedestrian height calculation is carried out by using the barometer data that has been filtered out the air pressure jump value.Finally,when the pedestrian walks horizontally,the calculated height is corrected to an integer multiple of half of a floor height to reduce the height error.The results of experiments show that the pedestrian indoor height localization algorithm proposed in this paper is not easily affected by ambient temperature.The error between the calculated height and the actual floor height is less than 2 m,and the pedestrian can be positioned to the correct floor.