An Integrated Positioning Method for GPS+PDR Based on Improved UKF Filtering

doi:10.13474/j.cnki.11-2246.2017.0213

Abstract

Abstract: In view of the deterioration of received signal quality, an improved GPS+PDR fusion positioning system applicable for signal shielding environment has been proposed. This method uses gyro integrating data within short time to correct heading deviation of digital compass, which has eliminated the incidental interference for digital compass to some extent significantly. UKF (unscented Kalman filter) algorithm used for constraining residual has been adopted to make fusion treatment for GPS and PDR positioning information, which has got over the position drift problem produced by cumulative heading error in PDR positioning effectively and improved the positioning accuracy and stability of algorithm. Experimental results show that the improved algorithm can restrain the drift error of digital compass effectively and the relative heading error has decreased by 56% on average. During walking, the standard error of GPS positioning is 2.67 m and the standard error of pure PDR positioning is 6.83 m. GPS data in several points have been offered randomly to assist positioning, the standard error decreased to 3.12 m. With GPS and PDR positioning integrated in the whole process, the standard error can be decreased to 1.94 m.

Key words: GPS, PDR, integrated navigation, multi-sensor data fusion, accuracy, UKF

CLC Number:

P228

NIU Huan, LIAN Baowang. An Integrated Positioning Method for GPS+PDR Based on Improved UKF Filtering[J]. 测绘通报, 2017, 0(7): 5-9.

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