卡尔曼滤波在室内定位系统实时跟踪中的应用  

Application of Kalman Filter in Indoor Positioning System for Real-Time Tracking

作　　者：赵永翔[1] 周怀北[1,2] 陈淼[2] 温斌[1] 

机构地区：[1]武汉大学软件工程国家重点实验室,湖北武汉430072 [2]武汉大学电子信息学院,湖北武汉430072

出　　处：《武汉大学学报（理学版）》2009年第6期696-700,共5页Journal of Wuhan University:Natural Science Edition

基　　金：国家高技术研究发展计划(863)项目(2007AA12Z324;2009AA12Z324);国家重点基础研究发展规划(973)项目(2009CB320401)

摘　　要：为了解决室内定位系统实时跟踪应用中所估算的用户位置方差较大,用户位置移动不平缓这一难题,提出了一种基于卡尔曼滤波的室内定位方法.首先利用最近邻居法估算用户的位置坐标,然后再利用卡尔曼滤波算法对用户的估算位置坐标进行滤波处理,以提高室内定位系统的性能和稳定性.实验结果表明,卡尔曼滤波算法可以将2 m以内85%的定位精度进一步提高到93%,3 m以内95%的定位精度提高到98%,改进效果明显而且稳定.In this paper, an indoor positioning technology based on Kalman filter algorithm is proposed to solve the problem that the standard deviation of forecasted user location is larger, and the move of user location is not smooth at real-time tracking stage. Firstly, nearest neighbor method is utilized to forecast the location of user, then the Kalman filter is used to filter the forecasted user location in order to further improve the performance and stability of indoor positioning system. Experimental results illustrate that the proposed kalman filter can increase the 85% accuracy of estimation with a precision of 2 meters to 93%,and increase 95% accuracy of estimation with a precision of 3 meters to 98%. Therefore, the proposed Kalman filter algorithm in this paper can improve the positioning accuracy remarkably and stably.

关 键 词：无线局域网 室内定位 位置指纹 卡尔曼滤波 实时跟踪 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构] TP303.17[自动化与计算机技术—计算机科学与技术]