Multi-sensor fusion and attitude algorithm based free attitude PDR positioning method

Abstract

The invention discloses a multi-sensor fusion and attitude algorithm based free attitude PDR positioning method. The method includes two sections, one is that a self-adaptive updating state judgementthreshold value MFSM step detection method is provided by analyzing the motion characteristics of pedestrians during walking, so that the precision of step detection can be guaranteed under free attitudes when mobile phones are stable relative to human body positions; and two is that a simple and accurate 180 DEG fuzzy judgement method is provided, and judgement can be performed on the motion axisdirection obtained by PCA analysis through acceleration so that the forward directions of the pedestrians can be obtained. A concept of fuzzy judgment confidence is provided at the same time so as tocombine with a gyroscope to perform correction on direction estimation results. Through actual measurement, the method reduces the attitude restriction when the pedestrians use potable electronic equipment to perform PDR positioning, and accurate stepping and direction estimation results can be obtained in the free attitude, such as flat holding, in pockets, in backpacks, etc., where the equipment is placed in a stable position relative to the human bodies.

Description

technical field [0001] The invention belongs to the field of mobile communication and positioning and navigation, and in particular relates to a free attitude PDR positioning method based on multi-sensor fusion and attitude calculation. Background technique [0002] With the rapid development of mobile communication technology and the rapid increase of data services and multimedia services, people are gradually not satisfied with simple outdoor location determination and navigation, and the demand for precise positioning in various more complex environments is getting higher and higher. Especially in complex indoor environments, it is often necessary to determine the precise indoor location of a mobile terminal or device, so location-based services (Location Based Service, LBS) are getting more and more attention. [0003] The positioning technology based on inertial navigation needs to know the initial point, and the positioning error will accumulate over time, but the iner...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the accuracy of portable electronic devices, such as mobile phones, etc. is lowered due to the influence of the device placement position and posture in the free posture detection of the free posture when the device is fixed relative to pedestrians, and the impact of the direction sensor output heading angle of the mobile phone on the direction of travel of pedestrians. For the problem of estimating failure, a free attitude PDR positioning method based on multi-sensor fusion and attitude calculation is provided. It overcomes the limitation that when using portable electronic devices such as mobile phones for PDR positioning, the equipment needs to have a flat end, and the direction of the heading angle points to the direction of travel. Good usability and scalability without adding extra cost

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