PDR algorithm improves indoor positioning accuracy of geomagnetism

doi:10.13474/j.cnki.11-2246.2019.0378

Abstract

Abstract: The use of geomagnetic field disturbances caused by metal structures in the building can locate indoor pedestrian targets, and the positioning based on the geomagnetic field does not require any additional facilities, so positioning can be achieved at low cost. However, only a single geomagnetic technique could not meet the accuracy requirements of indoor positioning. In order to solve the ambiguity problem of single point positioning in magnetic field data, we propose an indoor positioning method that uses particle filter algorithm to fuse PDR with geomagnetism and develops. The geomagnetic indoor navigation system uses the smart phone as the hardware platform to construct the magnetometer sensor model, establishes the mean square error criterion of the matching trajectory and realizes the iterative calculation of the PDR cumulative error real-time correction. In the experimental area of 68 m×1.8 m, the average positioning error is 1.13 m and the maximum positioning error is 2.17 m. The positioning accuracy of the fusion algorithm proposed in this paper is 42% higher than that of the single PDR algorithm. Compared with the positioning of a single geomagnetic fingerprint matching algorithm, the positioning accuracy is improved by 57%. Experiments show that the proposed fusion algorithm has a significant effect on improving indoor positioning accuracy.

Key words: indoor positioning, PDR, particle filter, geomagnetic fingerprint matching, fusion algorithm

CLC Number:

HUANG He, ZHANG Xinyu, QIU Kaiyue. PDR algorithm improves indoor positioning accuracy of geomagnetism[J]. Bulletin of Surveying and Mapping, 2019, 0(12): 18-21.

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