复杂环境下智能手机PDR/GPS行人定位算法  

PDR/GPS Pedestrian Positioning Algorithm for Smartphones in Complex Environments

作　　者：肖轩 XIAO Xuan(College of Optoelectronics Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400000,China)

机构地区：[1]重庆邮电大学光电工程学院,重庆400000

出　　处：《自动化应用》2025年第6期97-100,共4页Automation Application

摘　　要：针对城市街道等复杂行人场景中智能手机低成本硬件平台的卫星信号容易受多径干扰导致定位精度下降的问题,基于噪声调整和故障修复方法,提出了一种基于扩展卡尔曼滤波的PDR/GPS融合定位算法。结合GPS数据和惯性数据,构建联合步长和联合航向估计模块,减小步长与航向误差;根据卫星数量和平均载躁比,将目标环境分为无遮挡区间、轻微遮挡区间以及重度遮挡区间;无遮挡环境下并不存在明显定位问题,不做处理,在轻微遮挡环境下对观测值进行降权处理,在信号重度遮挡环境下利用预测新息对故障进行幅值修复,进而减小定位误差。以智能手机为硬件平台开展了实验验证,结果表明,与传统的扩展卡尔曼滤波方法相比,所提方法平均位置误差减小了40.2%,有效提高了智能手机在室外复杂环境下的定位精度。A PDR/GPS integrated positioning algorithm based on extended Kalman filtering is proposed to address the problem of satellite signals on low-cost hardware platforms for smartphones in complex pedestrian scenes such as urban streets being easily affected by multipath interference,leading to a decrease in positioning accuracy.This algorithm is based on noise adjustment and fault repair methods.Combining GPS data and inertial data,construct a joint step size and joint heading estimation module to reduce step size and heading errors.Based on the number of satellites and average signal-to-noise ratio,the target environment is divided into unobstructed,slightly obstructed,and heavily obstructed intervals.There is no obvious positioning problem in an unobstructed environment.Without processing,the observation values are reduced in weight in a slightly obstructed environment.In a heavily obstructed signal environment,predictive information is used to repair the amplitude of the fault and reduce positioning errors.Experimental verification was conducted using smartphones as hardware platforms,and the results showed that compared with traditional extended Kalman filtering methods,the proposed method reduced the average position error by 40.2%,effectively improving the positioning accuracy of smartphones in complex outdoor environments.

关 键 词：智能手机 行人航位推算 全球定位系统 融合定位 行人导航算法 

分 类 号：TN96[电子电信—信号与信息处理]