基于惯性元件的实时三维室内定位系统设计  

Design of real-time 3D indoor positioning system based on inertial elements

作　　者：白梦帅 曾祥烨 王静宜 苏彦莽 BAI Mengshuai;ZENG Xiangye;WANG Jingyi;SU Yanmang(Key Laboratory of Electronic Materials and Devices of Tianjin,School of Electronics and Information Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学电子信息工程学院天津市电子材料与器件重点实验室,天津300401

出　　处：《传感器与微系统》2022年第9期105-108,共4页Transducer and Microsystem Technologies

基　　金：河北省科技计划资助项目(17275404D,16220308D)。

摘　　要：为了克服传统卫星定位导航(GPS)在室内信号减弱甚至中断的缺点,设计并搭建了基于惯性元件JY901和气压计GY68的三维定位系统。在设备端,首先通过JY901采集定位目标运动过程中的加速度和角速度等惯性定位信息,利用主控树莓派进行基于行人航位推算(PDR)算法的数据处理,得到定位目标的单步位移;然后以气压与高度的对应关系为基础,通过计算由GY68采集到的气压的相对变化量来确定行人所在的楼层变化情况。最后将水平位移和高度信息进行数据融合后通过无线通信模块AS07-M1101S发送至上位机,由上位机进行基于粒子滤波的地图匹配完成实时的目标定位和位置显示。经过实际测试可知,水平方向的定位误差在0.5 m以内,楼层检测精度可以达到半层楼,有一定的应用价值。To overcome the shortcomings of traditional global positioning system(GPS)in indoor conditions, such as signal weakening or even interruption, a three-dimensional positioning system based on inertial element JY901 and barometer GY68 is designed.On the device side, firstly, inertial positioning information such as acceleration and angular velocities during the movement of the positioning target is collected through the JY901,and the Raspberry Pi is used as the main controller to perform data processing based on the pedestrian dead reckoning(PDR)algorithm to obtain the single-step displacement of the positioning target.Then based on the corresponding relationship between air pressure and altitude, the relative change amount of air pressure collected by GY68 is used to determine the change of the floor where pedestrians are located.Finally, the horizontal displacement and height information are fused and sent to the host computer through the wireless communication module AS07-M1101 S,and the host computer performs map matching based on particle filtering to complete real-time target positioning and position display.The actual test shows that the horizontal positioning error is within 0.5 m, and the floor detection precision can reach half a floor, which has certain application value.

关 键 词：三维定位 行人航位推算 粒子滤波 惯性元件 气压计 树莓派 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TN98[自动化与计算机技术—控制科学与工程]