基于闭合差校正的PDR定位轨迹优化方法研究  

Research on PDR localization trajectory optimization method based on closure error correction

作　　者：张帅 李召洋 王进燕 陈建广 ZHANG Shuai;LI Zhaoyang;WANG Jinyan;CHEN Jianguang(School of Smart City,Chongqing Jiaotong University,Chongqing 400074,China;School of Environment Science and Spatial Informatics,China University of Mining and Techonology,Xuzhou 221116,China;Zhejiang Deqing Zhilu Navigation Research Institute Company,Deqing 313200,China)

机构地区：[1]重庆交通大学智慧城市学院,重庆400074 [2]中国矿业大学环境与测绘学院,江苏徐州221116 [3]浙江德清知路导航研究院有限公司,浙江德清313200

出　　处：《全球定位系统》2024年第6期66-71,共6页Gnss World of China

基　　金：重庆市自然科学基金面上项目(CSTB2022NSCQ-MSX1625);重庆市教委科学技术研究项目(KJQN202100734);重庆市博士“直通车”科研项目(CSTB2022BSXM-JSX0020)。

摘　　要：针对目前行人航位推算(pedestrian dead reckoning,PDR)定位过程中存在累积误差,导致PDR定位轨迹存在较大偏移的问题,提出了一种基于闭合差校正的PDR定位轨迹优化方法,该方法利用PDR轨迹的闭合差对每一步的定位结果进行校正,从而整体优化PDR定位的轨迹,提高定位精度.实验结果表明,基于闭合差校正的PDR定位轨迹整体上更接近实际轨迹,校正后的PDR平均定位误差减少0.283 4 m,在1 m以内的累积误差概率相较于校正之前提高了22%,有效提高了PDR定位精度,定位轨迹得到进一步优化.A pedestrian dead reckoning(PDR)positioning trajectory optimization method based on closed difference correction is proposed to address the problem of accumulated errors in the current PDR positioning process,which leads to significant deviation of the PDR positioning trajectory.This method uses the closed difference of the PDR trajectory to correct the positioning results of each step,thereby optimizing the PDR positioning trajectory and improving positioning accuracy.The experimental results show that the PDR positioning trajectory based on closure error correction is closer to the actual trajectory,and the average positioning error of the corrected PDR is reduced by 0.2834 m.The cumulative error probability within 1 m is increased by 22%compared to before correction,effectively improving the PDR positioning accuracy and further optimizing the positioning trajectory.

关 键 词：室内定位 行人航位推算 闭合差 累积误差 校正 

分 类 号：P228[天文地球—大地测量学与测量工程]