Improvement of pedestrian dead reckoning by heading correction based on optimal access points selection method
Improvement of pedestrian dead reckoning by heading correction based on optimal access points selection method
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DOI：
10.23919/sice.2017.8105775
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发表时间：
2017-11
期刊：
影响因子：
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通讯作者：
S. Tateno;YiTong Cho;DungHan Li;Hao Tian;Pengyu Hsiao
中科院分区：
文献类型：
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作者：
S. Tateno;YiTong Cho;DungHan Li;Hao Tian;Pengyu Hsiao
在传统的室内定位系统中，由于成本较高或各种环境干扰，大多数现有技术如GPS、蓝牙和RFID等并没有那么有用。行人航位推算（PDR）是一种通过加速度、陀螺仪和指南针数据估计目标航向角来获得高精度的低成本定位技术。通常，研究人员使用指南针数据来估计航向角。然而，指南针数据很容易受到外部环境的影响，例如电气设备或一些钢铁制成的物体。另一方面，所获得的加速度和陀螺仪数据的计算结果通常会随着时间的推移而积累误差。当时间较长时，往往会出现较大的误差。一些研究人员使用基于接收信号强度指示器（RSSI）的Wi-Fi来辅助PDR进行校正。然而，某些 Wi-Fi 接入点 (AP) 无法使用，因为 RSSI 可能会受到外部因素（例如人员移动、墙壁）的影响。本文提出了一种通过航向校正来提高 PDR 的新方法。在该方法中，通过根据加速度和陀螺仪数据用四元数计算偏航角来估计航向角，并使用最佳AP选择方法来选择合适的RSSI以获得高精度。
In the traditional indoor positioning systems, because of high cost or various environmental interferences, most existing technology such as GPS, Bluetooth and RFID are not so useful. Pedestrian Dead-Reckoning (PDR) is a kind of low-cost location positioning technique that can get high accuracy by estimating the heading angle of target from acceleration, gyro and compass data. Usually, researchers use compass data to estimate heading angle. However, the compass data is easily affected by external environment, such as electrical equipment or some objects made by iron or steel. On the other hand, the calculation results by the obtained data of acceleration and gyro usually have accumulated error with time. When time comes longer, the bigger error often appears. Some researchers use Wi-Fi based on received signal strength indicator (RSSI) to assist PDR for correction. However, some Wi-Fi Access Points (APs) cannot be used because RSSI can be affected by external factors, such as people moving, wall. In this paper, a novel method that can improve PDR by heading correction is proposed. In this method, heading angle is estimated by calculating the yaw angle with Quaternion from acceleration and gyro data, and optimal APs selection method is used to select suitable RSSI for getting high accuracy.