基于擴(kuò)展卡爾曼濾波的高程估計(jì)算法
發(fā)布時(shí)間：2018-09-05 20:04
【摘要】：在室內(nèi)行人定位系統(tǒng)中,行人的高程定位精度關(guān)系到整個(gè)定位系統(tǒng)的可靠性。提出一種基于腰間傳感器的室內(nèi)行人高程估計(jì)算法。首先利用支持向量機(jī)識(shí)別行人上樓下樓動(dòng)作,針對(duì)行人的運(yùn)動(dòng)狀態(tài)采用自適應(yīng)的高程估計(jì)算法。針對(duì)氣壓計(jì)測(cè)量值易受環(huán)境影響的問題,采用了基于EKF融合氣壓和加速度的高度估計(jì)算法,提高了高度估計(jì)算法的穩(wěn)定性。經(jīng)實(shí)驗(yàn)驗(yàn)證,當(dāng)室內(nèi)人員進(jìn)行平地走、上樓等一連串動(dòng)作后,基于差分氣壓測(cè)高法計(jì)算的高度誤差為9.92%,基于加速度估計(jì)的行人高度誤差為9.52%,EKF融合后定位誤差下降到2.32%,提高了高程估計(jì)的精度。
[Abstract]:In indoor pedestrian positioning system, the accuracy of pedestrian elevation location is related to the reliability of the whole positioning system. An indoor pedestrian elevation estimation algorithm based on waist sensor is proposed. Firstly, support vector machine (SVM) is used to identify the movement of pedestrians upstairs and downstairs, and an adaptive elevation estimation algorithm is used to estimate the motion state of pedestrians. Aiming at the problem that barometer measurements are easily affected by environment, a height estimation algorithm based on EKF fusion of pressure and acceleration is adopted to improve the stability of the height estimation algorithm. After a series of actions, such as walking flat on the ground, going upstairs and so on, The height error calculated by differential pressure altimetry is 9.92, and the error of pedestrian height based on acceleration estimation is 9.52EKF. The positioning error is reduced to 2.32 after fusion, which improves the accuracy of elevation estimation.
【作者單位】： 上海大學(xué)通信與信息工程學(xué)院;中國科學(xué)院上海高等研究院;
【基金】：十三五國家重點(diǎn)研發(fā)計(jì)劃(2016YFC0801505)資助
【分類號(hào)】：TN713;TP212
本文編號(hào)：2225326
[Abstract]:In indoor pedestrian positioning system, the accuracy of pedestrian elevation location is related to the reliability of the whole positioning system. An indoor pedestrian elevation estimation algorithm based on waist sensor is proposed. Firstly, support vector machine (SVM) is used to identify the movement of pedestrians upstairs and downstairs, and an adaptive elevation estimation algorithm is used to estimate the motion state of pedestrians. Aiming at the problem that barometer measurements are easily affected by environment, a height estimation algorithm based on EKF fusion of pressure and acceleration is adopted to improve the stability of the height estimation algorithm. After a series of actions, such as walking flat on the ground, going upstairs and so on, The height error calculated by differential pressure altimetry is 9.92, and the error of pedestrian height based on acceleration estimation is 9.52EKF. The positioning error is reduced to 2.32 after fusion, which improves the accuracy of elevation estimation.
【作者單位】： 上海大學(xué)通信與信息工程學(xué)院;中國科學(xué)院上海高等研究院;
【基金】：十三五國家重點(diǎn)研發(fā)計(jì)劃(2016YFC0801505)資助
【分類號(hào)】：TN713;TP212
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