PDR/geomagnetic fingerprint indoor positioning method based on particle filter

doi:10.13474/j.cnki.11-2246.2021.0005

Abstract

Abstract: Aiming at the problem of error accumulation in PDR positioning and mismatching caused by non-unique geomagnetic fingerprint, this paper combines PDR with geomagnetic fingerprint to conduct indoor positioning research, and proposes a PDR/ geomagnetic fingerprint indoor positioning method based on particle filter. In the PDR positioning process, the map information is used to control the updating of particle weight to obtain more accurate position information. Then, dynamic time structuring algorithm is used to perform rapid sequence matching on the basis of PDR calculated position to obtain the optimal position estimation. The experimental results show that the fusion positioning method can effectively solve the problem of pedestrians’ position passing through the wall. The maximum positioning error is less than 1.5 m, and the positioning accuracy is 1 m with a 53.33% probability.

Key words: indoor positioning, pedestrian dead reckoning, geomagnetic fingerprint positioning, particle filter, PDR

CLC Number:

P228

WANG Anyi, OU Xue. PDR/geomagnetic fingerprint indoor positioning method based on particle filter[J]. Bulletin of Surveying and Mapping, 2021, 0(1): 24-28.

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