基于智能手机惯性传感器导航的定位方法研究

Research on Positioning Method Based on Smart Phone Inertial Sensor Navigation

基于智能手机的室内定位算法是解决卫星信号在室内环境下无法进行定位的方案之一,智能手机自带的惯性传感器具有短时高精度的特性,能够很好地完成室内定位任务。将基于智能手机的惯性传感器定位PDR算法分为3个方面:步数检测、步长估计和航向检测,采用波峰检测方法,并设定动态阈值对步数的判断进行优化,步数检测的准确率平均在90%左右,选择线性步长模型对实验者进行步长估计,使用滤波处理航向角中由于用户的细微抖动带来的数据波动。实验数据证明通过PDR算法得到的定位点位置信息的均方根误差为0.69 m,能够为室内定位研究提供一定的基础。

The indoor positioning based on smart phones is one of the solutions to solve the problem of satellite signals in the indoor environment.The development of mobile phones has brought convenience to indoor positioning for all to see.The inertial sensor that comes with the smartphone has short-term high-precision characteristics.The inertial sensor positioning is divided into three aspects:step number detection,step length estimation,and heading detection.The wave peak detection method is adopted,and the dynamic threshold is set to the number of steps.The accuracy of step detection is optimized.The average accuracy of step detection is about 95.0%.The linear step size model is selected to estimate the step size of the experimenter,and the filter is used to deal with the data fluctuation caused by the user’s subtle jitter in the heading angle.