An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor Map

被引:36
作者
Liu, Fei [1 ]
Wang, Jian [2 ]
Zhang, Jixian [3 ]
Han, Houzeng [2 ]
机构
[1] CUMT, Sch Environm Sci & Spatial Informat, Xuzhou 221116, Jiangsu, Peoples R China
[2] BUCEA, Sch Geomat & Urban Spatial Informat, Beijing 102616, Peoples R China
[3] Natl Qual Inspect & Testing Ctr Surveying & Mappi, Beijing 100830, Peoples R China
基金
中国国家自然科学基金;
关键词
UWB; PDR; Floor Map; EKF; Pedestrians Indoor Localization; PERFORMANCE; ALGORITHM;
D O I
10.3390/s19112578
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
This paper propose a scheme for indoor pedestrian location, based on UWB (Ultra Wideband)/PDR (Pedestrian Dead Reckoning) and Floor Map data. Firstly, a robust algorithm that uses Tukey weight factor and a pathological parameter for UWB positioning is proposed. The ill-conditioned position problem is solved for a scene where UWB anchors are placed on the same elevation of a narrow corridor. Secondly, a heading angle-computed strategy of PDR is put forward. According to the UWB positioning results, the location of pedestrians is mapped to the Floor Map, and 16 possible azimuth directions with 22.5 degrees interval in this position are designed virtually. Compared to the heading angle of PDR, the center direction of the nearest interval is adopted as the heading. However, if the difference between the head angles of PDR and the nearest map direction is less than five degrees, the heading angle of PDR is regarded as the moving heading. Thirdly, an EKF (Extended Kalman Filter) algorithm is suggested for UWB/PDR/Floor Map fusion. By utilizing the positioning results of UWB, PDR, and the possible heading angle of Floor Map, high precision positioning results are acquired. Finally, two experimental scenarios are designed in a narrow corridor and computer room at a university. The accuracy of pedestrian positioning when all the data are available is verified in the first scenario; the positioning accuracy of a situation where part of UWB is unlock is verified in the second scenario. The results show that the proposed scheme can reliably achieve decimeter-level positioning.
引用
收藏
页数:19
相关论文
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