High-precision indoor positioning algorithm based on landmark matching

被引：0
|
作者：
Zhou L. [1 ]
Xian W. [1 ]
Gong W. [1 ]
Li S. [1 ]
机构：
[1] School of automation, Nanjing University of Science and Technology, Nanjing
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2024年 / 32卷 / 02期
关键词：
heading constraint; indoor positioning; Kalman filtering; landmark;
D O I：
10.13695/j.cnki.12-1222/o3.2024.02.004
中图分类号：
学科分类号：
摘要：
Aiming at the problem of large positioning error of inertial navigation system based pedestrian indoor positioning algorithm, a high-precision three-dimensional indoor pedestrian location algorithm based on landmark matching is proposed. The algorithm only uses the inertial measurement unit (IMU) as a single sensor and includes four modules of speed constraint, heading constraint, horizontal position constraint and height constraint. The horizontal position constraint module can detect and establish landmark points in real-time according to the changes of heading angle, and a landmark matching degree function is designed to improve the accuracy of landmark matching. The multi-floor walking experiment shows that the proposed algorithm can improve the accuracy of pedestrian indoor positioning. Compared to the ZUPT algorithm and the ZUPT+HDE algorithm, the terminal point error of the proposed algorithm is only 0.3421 m, which is reduced by 82.6% and 68.3% respectively, and has certain engineering application value. © 2024 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.
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页码：132 / 138
页数：6
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