重庆邮电大学学报（自然科学版）2025，Vol.37Issue(5)：627-637,11.DOI:10.3979/j.issn.1673-825X.202501180025
基于测距修正的BLE和PDR融合定位方法研究
Research on BLE and PDR fusion localization method based on ranging correction
刘辉 1何航川1
作者信息
- 1. 重庆邮电大学通信与信息工程学院,重庆 400065
- 折叠
摘要
Abstract
To address the significant decline in positioning accuracy of traditional algorithms under indoor non line of sight(NLOS)conditions and low beacon deployment density,this paper proposes a fused positioning method based on ranging correction,combining bluetooth low energy(BLE)and pedestrian dead reckoning(PDR).Firstly,the received signal strength(RSS)of BLE is rapidly constructed using SketchUp indoor 3D modeling software integrated with a ray-tracing al-gorithm,eliminating the need for tedious manual RSS field collection.Subsequently,a variational autoencoder based on convolutional neural network(VAE-CNN)is designed to predict and correct BLE ranging errors,thereby improving BLE positioning accuracy.Finally,an extended Kalman filter(EKF)is employed to fuse the positioning results from BLE and PDR.Experimental results demonstrate that the proposed ranging-corrected BLE positioning and EKF-based fusion positio-ning achieve superior performance in environments with NLOS interference and low beacon deployment density.关键词
低功耗蓝牙/行人航位推算/射线追踪/变分自编码器/扩展卡尔曼滤波Key words
bluetooth low energy/pedestrian dead reckoning/ray tracing/variational autoencoder/extended Kalman filter分类
电子信息工程引用本文复制引用
刘辉,何航川..基于测距修正的BLE和PDR融合定位方法研究[J].重庆邮电大学学报（自然科学版）,2025,37(5):627-637,11.
