MEMS-INS室内行人定位三维地图匹配算法  

MEMS-INS Based Indoor Pedestrian Localization Using Three-Dimensional Map Matching Algorithm

作　　者：任明荣 孟娟[1,2,3] 王普 REN Ming-rong;MENG Juan;WANG Pu(Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China;Engineering Research Center of Digital Community,Beijing University of Technology,Beijing 100124,China;Beijing Key Laboratory of Computational Intelligence and Intelligent System,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学信息学部自动化学院,北京100124 [2]北京工业大学数字社区教育部工程研究中心,北京100124 [3]北京工业大学计算智能与智能系统北京市重点实验室,北京100124

出　　处：《电子学报》2021年第1期111-116,共6页Acta Electronica Sinica

基　　金：北京市教委项目(No.KM201610005006)。

摘　　要：提高基于微机械(Micro-Electro-Mechanical System,MEMS)惯性导航系统(Inertial Navigation System,INS)的室内行人三维定位精度一直是一个研究热点和难点,其中器件误差是影响MEMS-INS精度的一个棘手问题.由于器件误差产生的机理十分复杂,采用现有的修正技术无法准确地对误差进行估计建模,导致MEMS-INS的位置精度不高.本文从室内环境结构分析入手,提出了一种三维地图匹配的条件随机场算法.通过设计导航输出的位姿信息与室内状态点的数学关系,结合最佳轨迹求取的算法建立室内三维地图匹配的算法模型.最后通过算法求解出的最佳匹配点坐标修正惯性导航输出的位置误差.Improving micro-electro-mechanical inertial navigation system based indoor pedestrian localization is a hot and hard topic these days.It is because random errors of MEMS gyroscopes and accelerators are very complicated,and very difficult to model using norm techniques.In this paper,a map matching method based on conditional random fields and indoor 3D map is proposed.The algorithm is designed by establishing the mathematical relationship between the inertial position and the interior points of indoor map,and the optimal trajectory algorithm is used to get the estimated locations.The position errors of inertial navigation are corrected according to the matching points solved by the algorithm.

关 键 词：微机械惯性导航系统 室内行人定位 条件随机场 室内地图匹配 

分 类 号：U666.1[交通运输工程—船舶及航道工程]