基于惯性传感器与WiFi的室内行人轨迹推算
首发时间:2017-12-08
摘要:为了实现室内无GPS情况下行人的运动轨迹推算,设计了一种基于智能手机惯性元件和WiFi的室内行人轨迹推算算法。该算法基于粒子滤波,使用了手机加速度计和陀螺仪进行步态检测和每步旋转角度推算,并使用了一种基于WiFi强度变化趋势的WiFi地标策略。实验结果显示,使用该算法优化后的行人轨迹收敛,接近真实的运动轨迹。在仅使用惯性传感器和WiFi的情况下,可以有效地控制陀螺仪误差积累,完成固定手机姿态的行人轨迹推算。
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Indoor pedestrian trajectory estimation using WiFi and inertial sensors
Abstract:In order to achieve the pedestrian trajectory estimation in indoor environment without GPS, an algorithm for indoor pedestrian based on the inertial sensors and WiFi of the mobile phone is designed. The algorithm mainly uses particle filtering, uses an accelerometer and a gyroscope for pace detection and the rotation angle projections of the step, and uses a kind of WiFi landmark that based on intensity trends. The experimental results show that the optimized pedestrian trajectory is close to the real trajectory. In the case of using only inertial sensors and WiFi, it is possible to effectively control the accumulation of gyroscope errors and complete the pedestrian trajectory estimation with fixed mobile gestures.
Keywords: trajectory estimation;inertial sensors;WiFi;particle filter
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