基于智能手机的室内外行人定位算法

Indoor and outdoor pedestrian positioning algorithm based on smart phone

惯性导航系统可以解决无卫星信号下的行人导航问题,而在室内外场景下抑制航向发散为主要挑战。通过理论推导和观察行人步态特征发现,使用上一零速时刻的航向角与下一动态时刻航向角的差值作为观测量,建立观测方程来修正航向角;针对室内磁干扰问题提出磁干扰检测并修正航向的方法;融合智能手机中的气压计信息抑制高程发散。通过多次室内外行走实验验证,所提方法能够有效修正航向,使室外定位误差小于0.8%,室内定位误差小于1.5%,高程误差室内外均小于0.5%。

Inertial navigation systems can solve the problem of pedestrian navigation without satellite signals,and the main challenge is to suppress heading divergence in indoor and outdoor scenarios.Through theoretical derivation and observation of pedestrian gait characteristics,it was found that the difference between the heading angle at the last zero-speed time and the heading angle at the next dynamic time was used as the observation measurement,and the observation equation was established to correct the heading angle.To solve the problem of indoor magnetic interference,a method of magnetic interference detection and course correction was proposed.Barometer information in smart phones was fused to suppress elevation divergence.Results of multiple indoor and outdoor walking experiments show that,the proposed method can effectively correct the heading,make the building positioning error less than 0.8%,the indoor positioning error less than 1.5%,and the elevation error less than 0.5%indoor and outdoor.