A Positioning Method Based on Single-step Robust Filtering of Electronic Compass Heading Angle Information

Abstract

The invention relates to the field of positioning technology, and discloses a positioning method based on single-step robust filtering of electronic compass course angle information, including setting the initial position of the pedestrian; starting the dead reckoning system for the pedestrian according to the initial position of the pedestrian; Acquire sensor data, store the compass sensor data in the compass observation data storage file; perform gait recognition based on the accelerometer sensor data; perform single-step electronic compass data sequence robustness filtering; determine whether to continue positioning. The invention performs single-step filtering processing on the heading angle data sequence of the electronic compass, which weakens the influence of the observation gross error caused by the abnormal magnetic field, reduces the noise in the heading angle observation data, and improves the robustness of the heading angle filtering result. The more reliable and stable heading angle filter value is used for trajectory calculation, thereby greatly reducing the calculation error, weakening the jump phenomenon of PDR trajectory, and improving the accuracy and continuity of PDR positioning results.

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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