一种Wi-Fi RTT/数据驱动惯性导航行人室内定位方法

doi:10.13474/j.cnki.11-2246.2024.0413

测绘通报 ›› 2024, Vol. 0 ›› Issue (4): 76-82.doi: 10.13474/j.cnki.11-2246.2024.0413

一种Wi-Fi RTT/数据驱动惯性导航行人室内定位方法

周宝定¹, 胡超², 孙超³, 刘旭¹, 吴鹏¹, 杨钧富²

1. 深圳大学土木与交通工程学院, 广东深圳 518060;
2. 深圳大学建筑与城市规划学院, 广东深圳 518060;
3. 中石化石油工程地球物理有限公司北斗运营服务中心, 江苏南京 210000

收稿日期:2023-07-21 发布日期:2024-04-29
作者简介:周宝定(1986—),男,博士,副教授,研究方向为室内定位。E-mail:bdzhou@szu.edr.cn

A Wi-Fi RTT/data-driven inertial navigation pedestrian indoor positioning method

ZHOU Baoding¹, HU Chao², SUN Chao³, LIU Xu¹, WU Peng¹, YANG Junfu²

1. School of Civil and Transportation Engineering, Shenzhen University, Shenzhen 518060, China;
2. School of Architecture and Urban Planning, Shenzhen University, Shenzhen 518060, China;
3. Sinopec Petroleum Engineering Geophysical Company Limited Beidou Operation Service Center, Nanjing 210000, China

Received:2023-07-21 Published:2024-04-29

摘要/Abstract

摘要： 为了研究基于智能手机的行人室内定位方法,并提高其精度,本文提出了一种基于Wi-Fi往返时间(RTT)、惯性测量单元(IMU)的定位系统。该方法主要包括3部分:①使用扩展卡尔曼滤波融合测距信息的Wi-Fi RTT室内定位方法;②适用于多手机使用模式的航位推算方法,该方法基于长短时记忆模型(LSTM)建立神经网络模型,预测行人运动速度及航向;③基于误差状态卡尔曼滤波的Wi-Fi RTT/数据驱动惯性导航融合定位方法,进一步提高定位精度。试验结果表明,与单一的基于Wi-Fi RTT方法和数据驱动惯性导航方法相比,本文方法的平均定位精度提升了10%～20%。

关键词: 智能手机, 数据驱动惯性导航, Wi-Fi RTT, 行人航迹推算, 融合定位

Abstract: In pursuit of investigating pedestrian indoor positioning methods based on smartphones and enhancing the precision of indoor pedestrian localization, this paper proposes a localization system utilizing Wi-Fi RTT and IMU for the indoor positioning of pedestrians using smartphones. The method comprises three key components: ①The introduction of a Wi-Fi RTT indoor positioning method that employs extended Kalman filtering to integrate distance measurement information.②The proposition of a dead reckoning method suitable for multi-phone usage, utilizing LSTM to establish a neural network model for predicting pedestrian movement speed and heading.③The development of a fusion positioning method based on ESKF that combines Wi-Fi RTT and data-driven inertial navigation to further elevate positioning accuracy. Experimental findings illustrate that, in comparison to individual Wi-Fi RTT and data-driven inertial navigation methods, the proposed approach achieves an average improvement of 10% to 20% in positioning accuracy.

Key words: smartphones, data-driven inertial navigation, Wi-Fi RTT, PDR, fusion positioning

中图分类号:

P228

周宝定, 胡超, 孙超, 刘旭, 吴鹏, 杨钧富. 一种Wi-Fi RTT/数据驱动惯性导航行人室内定位方法[J]. 测绘通报, 2024, 0(4): 76-82.

ZHOU Baoding, HU Chao, SUN Chao, LIU Xu, WU Peng, YANG Junfu. A Wi-Fi RTT/data-driven inertial navigation pedestrian indoor positioning method[J]. Bulletin of Surveying and Mapping, 2024, 0(4): 76-82.

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一种Wi-Fi RTT/数据驱动惯性导航行人室内定位方法

A Wi-Fi RTT/data-driven inertial navigation pedestrian indoor positioning method

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