复杂环境下智能手机RTK+PDR融合定位

RTK+PDR fusion positioning for smart phone in complex environment

针对室外复杂环境下智能手机定位精度低、抗干扰能力不足的问题,本文利用手机GNSS观测值和手机内置IMU数据,采用RTK和PDR算法融合定位,对比分析了小米8和华为Mate20X两款手机的GNSS数据质量和融合定位算法性能,以及不同观测条件下融合算法的定位精度和稳定性。试验结果表明,在良好和复杂两种观测条件下,采用RTK算法定位精度分别为1.8 m和4.6 m;采用RTK+PDR融合算法定位精度分别为1.2 m和2.6 m,在两种环境下,RTK+PDR融合算法的精度分别提高了50%和76%,即显著提高了智能手机在室外复杂环境下的定位精度。

For the problem of low positioning accuracy and insufficient anti-jamming capability of smart phones in complex outdoor environments, real time kinematic(RTK) and pedestrian dead reckoning(PDR) algorithms are integrated to position based on raw GNSS observations and built-in IMU data from smart phone in this paper. And the GNSS data from Xiaomi8 and Huawei Mate20 X mobile phone are compared and analyzed. The positioning accuracy and stability with the proposed methods are assessed under different observation conditions. The experiment results show that the RTK algorithm can reach a positioning accuracy of 1.8 m and 4.6 m in good and complex observation environment respactively, and the RTK+PDR fusion algorithm can reach a positioning accuracy of 1.2 m and 2.6 m respectively. This positioning accuracy are 50% and 76% higher than that of RTK algorithm. The positioning accuracy and stability of smart phones is improved significantly in complex outdoor environments.