一种基于Wi-Fi FTM指纹与测距的动态加权混合定位  

A dynamic weighted hybrid positioning method based on Wi-Fi FTM fingerprint positioning and range-based positioning

作　　者：徐生磊 王晓菲 司明豪 汪云甲[1,2] XU Shenglei;WANG Xiaofei;SI Minghao;WANG Yunjia(Key Lab of Land,Environment and Disaster Monitoring,Ministry of Natural Resources,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China;School of Environment and Spatial Informatics,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China;Suzhou Surveying and Mapping Institute Co.,Ltd.,Suzhou,Jiangsu 215000,China)

机构地区：[1]中国矿业大学自然资源部国土环境与灾害监测重点实验室,江苏徐州221116 [2]中国矿业大学环境与测绘学院,江苏徐州221116 [3]苏州市测绘院有限责任公司,江苏苏州215000

出　　处：《测绘科学》2023年第2期54-60,共7页Science of Surveying and Mapping

基　　金：国家重点研发计划项目(2016YFB0502102)。

摘　　要：针对传统的指纹定位与测距定位混合需要提前确定两者权重的问题,该文提出了一种新的动态加权混合定位方法。该方法利用Wi-Fi精细时间测量(FTM)协议同时返回接收信号强度(RSS)与测距数据的条件,在分析指纹定位与测距定位原理的基础上,分别对两种定位方法生成的定位结果动态确定权值,最后根据间接平差原理对两种定位结果进行融合,得到最终定位结果。在相同的实验条件下,该文所提的动态加权混合定位方法的平均定位误差(ME)为1.42 m,均方根误差(RMSE)为1.85 m,与指纹定位、测距定位和确定性加权混合定位方法相比,ME分别减小了27.6%、18.4%和21.9%,RMSE分别减小了37.3%、15.5%和15.5%。实验结果表明:与指纹定位、测距定位单种定位方法和确定性加权混合定位方法相比,该文提出的动态加权混合定位方法可以提高定位结果的精度和稳定性。Aiming at the problem of determining the weights of fingerprinting and range-based positioning in advance,a new dynamic weighted hybrid positioning method was proposed in this paper.The method could dynamically determine the weights of the positioning results of two methods after analyzing the principle of fingerprinting and range-based positioning methods respectively as well as using the received signal strength(RSS)data and range measurements of the Wi-Fi fine time measurement(FTM)protocol.Finally,the result was obtained by integrating the two positioning results based on the principle of indirect adjustment.Under the same experimental conditions,the mean positioning error(ME)and root mean square error(RMSE)of the proposed dynamic weighted hybrid positioning method were 1.39m and 1.69m,respectively.Compared with fingerprinting,range-based,and deterministic weighted hybrid positioning methods,the ME and RMSE were reduced by 27.6%,18.4%,21.9%,and 37.3%,15.5%,15.5% respectively.Experimental results showed that the proposed dynamic weighted hybrid positioning method could improve the accuracy and stability of positioning results.

关 键 词：室内定位 Wi-Fi FTM 指纹定位 测距定位 动态加权定位 

分 类 号：P228[天文地球—大地测量学与测量工程]