一种调频广播信号辅助PDR的室内定位技术  

FM-aided pedestrian dead reckoning system for indoor positioning

作　　者：田婧楠 丛丽[1] 秦红磊[1] TIAN Jingnan;CONG Li;QIN Honglei(School of Electronic and Information Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)

机构地区：[1]北京航空航天大学电子信息工程学院,北京100191

出　　处：《导航定位学报》2023年第4期104-112,共9页Journal of Navigation and Positioning

摘　　要：针对室内定位系统中现有的行人航位推算(pedestrian dead reckoning,PDR)方法存在加速度计适用性较差,以及基于惯性和磁传感器的航向估计易受器件误差和磁场环境的影响,导致精度较低的问题,在不增加基础设施成本和现场勘察工作的前提下,提出一种调频(frequencymodulation,FM)广播信号辅助PDR的室内行人定位技术:在传播模型理论基础上探究FM信号接收信号强度指数(RSSI)与步长的关系,将其与加速度组合以提升步长估计的适用性;然后通过分析FM信号在直线/转弯运动模式下的变化,将其与角速度组合以提升模式识别准确率,并使用模式识别结果约束航向漂移误差;最后,综合步长与航向估计结果实现定位。实验结果表明,引入FM信号后定位误差均值可分别减小36.1%、78.9%。Aiming at the problems that existing methods of pedestrian dead reckoning(PDR)in indoor positioning system have poor applicability of accelerometers,and inertial sensors and magnetometer-based heading estimation suffers from sensor errors and magnetic field interference,leading to low accuracy,the paper proposed an FM-aided PDR system for indoor pedestrian location without additional infrastructure and laborious surveys:the relationship between FM signal received signal strength indicator(RSSI)and step length was explored on the basis of propagation model,and RSSI was combined with acceleration to improve the applicability of step length estimation(SLE);then by analyzing the change of FM signals under different modes,the signal was combined with angular velocity to improve the accuracy of going straight/turning motion mode recognition,and then the recognition results were utilized to control the heading errors;finally,indoor positioning was realized by combining step length and heading results.Experimental result showed that the introduction of FM signals would reduce the localization errors by 36.1% and 78.9%,respectively.

关 键 词：室内定位 行人航迹推算(PDR) 运动模式识别 无线电信号 调频(FM)信号 接收信号强度指数(RSSI) 

分 类 号：P228[天文地球—大地测量学与测量工程]