基于磁场指纹/PDR组合的室内行人定位算法

Indoor pedestrian localization algorithm based on magnetic field fingerprinting/PDR

针对现有的室内定位方法精度低、需要额外信号节点等问题,提出了一种基于萤火虫算法(FA)优化粒子滤波的行人航位推算(PDR)融合地磁匹配的室内定位方法。相比于传统PDR算法,采用有限状态机法检测步频,在保证跨步检测准确度的同时显著降低计算量。利用萤火虫算法优化粒子滤波的采样过程,在粒子权值更新前向似然度更高的区域移动,提升了滤波精度。实验结果表明:该算法能有效提升定位精度,具有重要的实用价值。

Aiming at the problem of low accuracy and require additional signal nodes of existing indoor localization methods,an indoor positioning method,which fuses PDR and geomagnetic matching based on firefly algorithm(FA) optimized particle filtering. is proposed Compared to the traditional PDR algorithm,using finite state machine method to detect stride frequency,and the calculation amount is significantly reduced while ensuring the accuracy of the step detection. The firefly algorithm is used to optimize the sampling process of particle filtering,which makes the particles moving to the region with higher likelihood before weight updating,and the filtering precision is improved. The experimental result shows that the proposed algorithm can effectively improve the positioning precision and has important practical value.