融合PDR/地磁指纹的室内定位算法  

Indoor localization algorithm fuses PDR andgeomagnetic fingerprinting

作　　者：吴怡 李希胜[1,2] WU Yi;LI Xisheng(School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China;Beijing Engineering Research Center of Industrial Spectrum Imaging,Beijing 100083,China)

机构地区：[1]北京科技大学自动化学院,北京100083 [2]北京市工业波谱成像工程技术研究中心,北京100083

出　　处：《传感器与微系统》2022年第3期132-134,共3页Transducer and Microsystem Technologies

摘　　要：基于粒子滤波的融合室内算法,由于权重退化和粒子贫化的问题,定位精度与时效性受限,为此,提出萤火虫自适应粒子滤波算法,包括自适应权重求解,萤火虫策略重采样设计,以及自适应粒子分布三方面优化,有效缓解了权重退化和粒子贫化现象。实验结果表明:萤火虫自适应粒子滤波保证时效性的同时,有效提高了定位精度,具有更好的定位效果。Fusion indoor algorithm based on particle filter,due to the problem of weight degradation and particle impoverishment,the positioning accuracy and timeliness are limited.Aiming at this problem,a firefly adaptive particle filter algorithm is proposed,including adaptive weight,firefly strategy resampling and distributed particles adaptively.The algorithm alleviates the problem of weight degradation and particle depletion effectively.The experimental results show that the firefly adaptive particle filter guarantees timeliness,while effectively improving the positioning accuracy and has a better positioning effect.

关 键 词：室内定位 行人航迹推算 地磁指纹 萤火虫自适应粒子滤波 

分 类 号：TP216.1[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]