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针对室内行人定位中累积误差发散及高程值缺失的问题,提出了一种基于智能手机传感器(磁力计、加速度计、陀螺仪和气压计)的室内行人三维定位算法。该算法在使用行人航位推算获得二维定位信息的基础上,融合多传感器输出解算行人方位角,结合电子罗盘提出加权方位角以提高解算精度;通过传感器输出检测行人行为状态,结合虚拟地标点图层及其匹配算法,将行人的位置匹配到相应的特殊位置,重置行人初始位置以消除累积误差;使用基于气压计的差分气压测高法求解行人的高程值,从而获得行人三维定位信息。在智能手机上进行实验,结果表明,该算法不仅能够提供准确、连续的二维定位信息,还能提高行人对楼层的分辨力,可为室内行人导航、跟踪等基于位置服务提供有效的定位信息。
In order to solve the problem of cumulative error divergence and elevation loss in indoor pedestrian positioning, a three-dimensional indoor pedestrian positioning algorithm based on smart phone sensors (magnetometer, accelerometer, gyroscope and barometer) is proposed. Based on the two-dimensional positioning information obtained from the pedestrian navigation, the algorithm integrates the multi-sensor output to calculate the pedestrian azimuth and proposes the weighted azimuth with the electronic compass to improve the accuracy of the solution. The pedestrian behavior is detected by the sensor output, Landmark point layer and its matching algorithm, the pedestrian’s position to match the corresponding special location, reset the initial position of pedestrians to eliminate the cumulative error; using differential barometric altimeters based on barometer to solve the pedestrian’s elevation value, so as to obtain three-dimensional pedestrian Positioning information. Experiments on smartphones show that the proposed algorithm can not only provide accurate and continuous two-dimensional positioning information, but also improve the pedestrian’s resolution to the floor. It can provide effective location information for location-based services such as indoor pedestrian navigation and tracking .