一种改进的行人航迹推算算法研究  

Research on an improved pedestrian dead reckoning algorithm

作　　者：万蓬勃[1] 李学青 汤运启 Wan Pengbo;Li Xueqing;Tang Yunqi(College of Art and Design,Shaanxi University of Science&Technology,Xi′an 710021,China)

机构地区：[1]陕西科技大学设计与艺术学院,西安710021

出　　处：《电子测量技术》2024年第11期69-77,共9页Electronic Measurement Technology

基　　金：陕西省社会科学基金(2023J014)项目资助。

摘　　要：针对行人在室内定位不准确的问题,提出一种改进的行人航迹推算算法。在步数检测阶段,提出一种基于运动分割的三阈值峰值检测法,实现了行人在不同运动状态下步数的精准检测。通过使用改进的Weinberg模型实现步长估算。并提出一种基于主方向假设的航向角修正算法,实现行人的航向角修正。最后综合步数、步长和航向角信息实现室内行人的航迹推算。实验结果表明,改进的行人航迹推算算法在室内有较好的稳定性,在室内的平均定位误差<5%,较传统PDR算法在平均定位误差上降低了9.53%,提高了行人在室内定位的精度。An improved pedestrian dead reckoning algorithm is proposed to solve the problem of inaccurate pedestrian location in indoor space.In the step detection stage,a three-threshold peak detection method based on motion segmentation is proposed to realize the accurate step detection of pedestrians in different motion states.Step size estimation is achieved by using an improved Weinberg model.A heading Angle correction algorithm based on the principal direction assumption is proposed to realize the pedestrian′s heading Angle correction.Finally,the information of step number,step length and course Angle is integrated to realize the dead reckoning of indoor pedestrians.Experimental results show that the improved Pedestrian Dead Reckoning algorithm has good indoor stability,and the average indoor location error<5%,which is 9.53%lower than that of traditional PDR algorithm,and improves the indoor location accuracy of pedestrians.

关 键 词：峰值检测 阈值法 步数统计 航向修正 行人航迹推算 

分 类 号：TN961[电子电信—信号与信息处理]