中南大学学报（自然科学版）2016，Vol.47Issue(5)：1588-1598,11.DOI:10.11817/j.issn.1672-7207.2016.05.019
室内行人航迹推算/超声波组合定位融合算法
Fusionalgorithm in indoor integrated position system for pedestrian dead reckoning/ultrasonic
摘要
Abstract
Toimprove the precision andtrackingperformance of indoor position system and adapttothe complex indoor environment, the position systems of pedestrian dead reckoning and ultrasonic transducerwereintegrated. What’s more, the fusion algorithm of noise power factors assisting covariance weighted fusion based on Square Root Unscented Kalman Filterwas proposed, and the globally optimal state estimation as feedbackwas introduced into the algorithm too. To solve the problem of measuring pedestrian’s course angle with ultrasonic, a simple and effective geometry methodwas proposed. The simulation resultshowsthat in the simulative and dynamic indoor environment including the influence of multipath effectandcumulative error of inertia device,the position accuracy of fusion algorithm is always better thanthat ofsingle position model’s. Moreover the fusion algorithm has good convergence performance, stability and adaptation performance. So the study has positive effect on indoor position research and application.关键词
室内定位/平方根无迹卡曼滤波/噪声权因子/协方差加权融合/航向角测量Key words
indoor position/Square Root Unscented Kalman Filter/noise power factors/covariance weightedfusion/course angle measurement分类
航空航天引用本文复制引用
赵延鹏,时伟,艾明曦..室内行人航迹推算/超声波组合定位融合算法[J].中南大学学报（自然科学版）,2016,47(5):1588-1598,11.基金项目
国家自然科学基金资助项目(61174002)(Project(61174002)supported bytheNational Natural Science Foundation of China) （61174002）
