Positioning method based on single-step robust filtering of course angle information of electronic compass

Abstract

The invention relates to the technical field of positioning, and discloses a positioning method based on single-step robust filtering of course angle information of an electronic compass, and the method comprises the following steps: setting an initial position of a pedestrian; starting a pedestrian dead reckoning system according to the initial position of the pedestrian; acquiring sensor data through the mobile terminal, and storing the compass sensor data into a compass observation data storage file; carrying out the gait recognition according to accelerometer sensor data; carrying out single-step electronic compass data sequence robust filtering processing; and determining whether continued positioning is required or not. According to the method, single-step filtering processing is carried out on the course angle data sequence of the electronic compass, the influence of observation gross errors caused by magnetic field abnormality is weakened, noise in course angle observation datais reduced, and the robustness of a course angle filtering result is improved; the more reliable and stable course angle filtering value is used for track calculation, so the calculation error is greatly reduced, the jump phenomenon of the PDR track is weakened, and the precision and continuity of the PDR positioning result are improved.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to a positioning method based on single-step robust filtering of electronic compass course angle information. Background technique [0002] In recent years, with the widespread popularity of smart phones, more and more sensors are integrated into mobile phones, and mobile phones can obtain more data in the environment, which further promotes the development of pedestrian dead reckoning (Pedestrian Dead Reckoning, PDR) technology. . In 2016, Wang Gechao and others proposed the acceleration difference (AD-FSM) algorithm to improve the method of the finite state machine, which can accurately count steps under the interference state; in 2015, Kang et al. combined the gyroscope and the magnetic field sensor and proposed the Smart PDR; but the above-mentioned purely relying on mobile phone sensor data for positioning will cause serious cumulative error problems, so in 2015, Yang Fan ...

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Problems solved by technology

In 2016, Wang Gechao and others proposed the acceleration difference (AD-FSM) algorithm to improve the method of the finite state machine, which can accurately count steps under the interference state; in 2015, Kang et al. combined the gyroscope and the magnetic field sensor and proposed the Smart PDR; but the above-mentioned purely relying on mobile phone sensor data for positioning will cause serious cumulative error problems, so in 2015, Yang Fan from Shanghai Jiaotong University and others used the positioning method of PDR and WiFi results, and PDR data can be used for fingerprint positioning. Database matching range

The electronic compass is easily affected by gross errors caused by abnormal electromagnetic environments, resulting in jumps of up to 0.5 degrees in the electronic azimuth data of the compass

The jumping compass azimuth angle data brings uncertainty in trajectory calculation, which leads to problems such as large deviations, jumps, and even errors in PDR results

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