基于智能手机的VLC/IPDR粒子滤波融合室内定位

VLC/PDR Particle Filter Fusion Indoor Positioning Based on Smartphone

针对目前室内定位精度低及部署成本高的问题,提出了一种基于智能手机的可见光通信与改进的行人航迹推算(VLC/IPDR)粒子滤波融合室内定位方法。该方法首先对智能手机CMOS摄像头拍摄的发光二极管(LED)光源图像信息进行解码,确定待定位点所属的LED区域。然后根据光照度模型及手机陀螺仪获得的方向角推算具体位置信息。最后将VLC获取的位置坐标作为观测值,将IPDR作为粒子滤波的状态转移方程,用粒子滤波将二者融合后进行联合定位。实验结果表明,在3 m×3 m×3 m的小空间、单光源条件下,该方法的平均定位误差小于6 cm,在120 m与45 m垂直相交路径上的多运动模式定位测试中,平均定位误差小于0.2 m。

Concerning the problem of current low indoor positioning accuracy and high deployment cost,this paper proposes a visible light communication/improved pedestrian dead reckoning(VLC/IPDR)smartphone-based particle filtering fusion indoor positioning technology.The method fist decodes the image information of the light emitting diode(LED)light source captured by the smartphone CMOS camera to determine the LED area of the point to be located.Second,the specific position information is determined according to the illuminance model and the direction angle obtained by the mobile phone gyroscope.Finally,the position coordinates obtained by VLC are used as the observation values,and IPDR is used as the state transition equation of particle filtering,the particle filter is used to fuse the two for joint positioning.Experimental results show that the average positioning error of this method is less than 6 cm under a small space of 3 m×3 m×3 m and a single light source,the average positioning error of this method is less than 0.2 m in the multi motion mode positioning test on the vertical intersection path of 120 m and 45 m.