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An indoor online positioning method based on a PDR and a hidden Markov model

A Hidden Markov, positioning method technology, applied in the direction of location information-based services, specific environment-based services, wireless communication, etc., can solve the problems of sensor accumulation error WiFi signal, unstable positioning accuracy, etc.

Active Publication Date: 2019-05-10
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0004] Aiming at the above-mentioned deficiencies in the prior art, the present invention proposes an indoor online positioning method based on PDR combined with a hidden Markov model, which is used to solve the accumulated errors caused by sensors in the PDR and WiFi positioning technology based on smartphones existing in the prior art. Or the unstable WiFi signal causes the problem of low positioning accuracy

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  • An indoor online positioning method based on a PDR and a hidden Markov model
  • An indoor online positioning method based on a PDR and a hidden Markov model
  • An indoor online positioning method based on a PDR and a hidden Markov model

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[0056] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0057] Such as figure 1 As shown, an indoor online positioning method based on PDR combined with a hidden Markov model includes the following steps:

[0058]S1: Obtain the maximum value L of the PDR step size deviation based on historical data max and the maximum value of gyroscope angle deviation θ at each moment max ;

[0059] The formula for the maximum value of the gyroscope angle deviation at each moment is:

[006...

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Abstract

The invention discloses an indoor online positioning method based on combination of a PDR and a hidden Markov model. The indoor online positioning method comprises the following steps: S1, acquiring aPDR step length deviation maximum value and a gyroscope angle deviation maximum value at each moment; S2, dividing the area to be positioned into a plurality of small grids; S3, determining a PDR initial position; S4, drawing an original walking track of the user; S5, determining an area with the maximum PDR positioning probability on the grid map; S6, obtaining a plurality of positions with themaximum WiFi positioning probability and a final positioning area; S7, constructing a hidden Markov model and determining parameters of the hidden Markov model; S8, determining a final positioning position; S9, redrawing a final positioning track of the PDR and determining the current positioning position; According to the invention, the problem of low positioning precision caused by accumulated errors of sensors or unstable WiFi signals in PDR and WiFi positioning technologies based on smart phones in the prior art is solved.

Description

technical field [0001] The invention belongs to the technical field of online positioning, and in particular relates to an indoor online positioning method based on PDR combined with a hidden Markov model. Background technique [0002] Existing research is relatively extensive based on smart phone indoor positioning technology includes PDR (Pedestrian Dead Reckoning) and WiFi two technologies. PDR technology is a positioning technology that relies on the built-in motion sensor information of the smart phone to obtain the user's movement trajectory, thereby determining the user's location in real time. This positioning method has low cost and simple positioning algorithm. However, due to the low precision of the built-in sensor of the smart phone and the phenomenon of cumulative error, the positioning accuracy is not high when using a single PDR technology, and the positioning error gradually increases with the increase of positioning time. It is difficult to locate for a lo...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W64/00H04W4/029H04W4/33H04W4/021
Inventor 杨帆黄翠彦
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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