利用步行惯性导航的室内定位融合算法研究  

Research on indoor positioning fusion algorithm applying with pedestrian inertial navigation

作　　者：柏思琪 梁文海[1,2] 秦爽[1,2] 

机构地区：[1]四川师范大学物理与电子工程学院,四川成都610100 [2]无线传感器网络四川省高校重点实验室,四川成都610101

出　　处：《现代电子技术》2015年第15期1-4,共4页Modern Electronics Technique

基　　金：四川省教育厅重点项目(12ZA133)

摘　　要：步行惯性导航是一种用于无基础设施室内定位中的新技术,但累积误差效应限制了它的使用范围,为解决此问题,提出一种把步行惯性导航与无线测距定位相融合的定位算法,结合前者轨迹连续和后者无累积误差的优点。仿真结果表明,该融合算法在定位的稳定性和精确性方面都表现出良好的性能,验证了该方案的合理性、有效性。Pedestrian inertial navigation is a new technology for no infrastructure indoor positioning,but cumulative error ef?fect limits its application range. In this situation,a positioning algorithm in combination with pedestrian inertial navigation and wireless ranging positioning is proposed,which combines the advantages of continuous locus in the former and no cumulative er?ror in the latter. The simulation results indicate that the fusion algorithm shows up its good performance in the aspects of stability and accuracy. The rationality and availability of the scheme are verified.

关 键 词：室内定位 惯性导航 零速度更新 卡尔曼滤波 融合算法 

分 类 号：TN96-34[电子电信—信号与信息处理] TP274[电子电信—信息与通信工程]