基于室内定位的改进PDR算法研究

Research on Improved PDR AlgorithmBased on Indoor Positioning Technology

针对惯导在室内定位中存在定位精度不高、航迹偏移较大的问题,通过对PDR算法的深入分析,提出了改进的PDR算法。该算法主要从3方面入手:(1)设计FIR滤波器对数据进行预处理;(2)对传统Weinberg模型进行改进,引入了新的参量作为步长估计的联合参考;(3)对单步定位结果进行粒子滤波优化。改进后的PDR算法提升了步频检测精度,降低了步长估计误差,改善了航迹偏移问题。仿真实验结果表明,改进后的PDR算法优于原PDR算法。

Aiming at the problem that the positioning accuracy of inertial navigation is not high and the trajectory offset is large in indoor positioning,an improved PDR algorithm is proposed through in-depth analysis of the PDR algorithm.The algorithm mainly starts from three aspects:the first one is to design a FIR filter to preprocess the data;the second one is to improve the traditional Weinberg model and to introduce new parameters as a joint reference for step length estimation;and the third one is to optimize the particle filtering of the single-step positioning results.The improved PDR algorithm improves the accuracy of step frequency detection and reduces the step estimation error,and improves the track offset problem.The simulation experimental results show that the improved PDR algorithm is better than the original PDR algorithm.