基于蓝牙/INS的室内组合导航算法

Indoor integrated navigation algorithm based on bluetooth/INS

蓝牙是一项低成本的室内定位导航的技术,但容易受室内环境影响;惯性导航系统(INS)常用于估计航姿,可通过加速度计的输出进行位置估计,但它容易受传感器误差和漂移的影响。为了实现更精准的室内导航,提出了使用卡尔曼滤波器(KF)融合蓝牙和惯导系统进行导航的算法。组合导航算法中,梯度下降法被用于对惯性传感器(ICM20602和磁力计)进行姿态融合估计,通过蓝牙设备测量接收信号强度(RSSI)进行定位解算。实验结果表明,基于蓝牙/INS的组合定位系统能够将子系统的定位误差从0.8m降低至0.2m,证明其可用于精确的室内定位导航。

Bluetooth is a low-cost indoor positioning and navigation technology,but it can be easily affected by the indoor environment;inertial navigation system(INS)is often used for heading and attitude estimation,and the position can estimated through the output of accelerometer.But INS is susceptible to sensor error and drift.In order to achieve more accurate indoor navigation,the algorithm using Kalman filter(KF)to fuse Bluetooth and INS for navigation is proposed.In the algorithm,the gradient descent method is used for inertial sensor(ICM20602 and magnetometer)fusion and attitude estimation,and the received signal strength(RSSI)measured by the Bluetooth device is used for positioning calculation.Experiment results show that the combined positioning system based on Bluetooth/INS can reduce its positioning error from 0.8m to 0.2m,proving that it can be used for accurate indoor positioning and navigation.