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针对卫星信号到达地面时较弱、不能穿透建筑物的问题,该文对无法使用卫星定位时的辅助手段之一——室内定位技术作了研究。室内定位多传感器信息融合需要在统一坐标框架下进行,传统的空间配准解决方案多为简单的“松组合”加工。该文给出了多传感器空间配准数学模型,通过构造极大似然函数估计传感器间的位置偏差,采用粗估计与高斯牛顿迭代估计的两步法求解,并用仿真算例验证了该文所采用算法的有效性与正确性。
Aiming at the problem that the satellite signal is weak on the ground and can not penetrate the building, this paper studies indoor location technology, one of the auxiliary means when satellite positioning can not be used. Indoor location multi-sensor information fusion needs to be carried out under a unified coordinate framework. Most traditional space registration solutions are simple “loose combination” processing. In this paper, the mathematical model of multi-sensor space registration is given. The maximum likelihood function is used to estimate the position error among sensors. The two-step method is adopted to estimate the iterative estimation of rough estimate and Gauss Newton. The validity and correctness of the algorithm.