Abstract
Abstract. In this paper, we proposed an indoor pedestrian positioning method which is probabilistic constrained by "multi-target encounter" when the initial position is known. The method is based on the Pedestrian Dead Reckoning (PDR) method. According to the PDR method of positioning error size and indoor road network structure, the buffer distance is determined reasonably and the buffer centering on the PDR location is generated. At the same time, key nodes are selected based on indoor network. In the premise of knowing the distance between multiple key nodes, the forward distance of pedestrians which entered from different nodes can be calculated and then we sum their distances and compared with the known distance between the key nodes, which determines whether pedestrians meet. When pedestrians meet, each two are seen as a cluster. The algorithm determines whether the range of the intersection of the buffer meet the conditions. When the condition is satisfied, the centre of the intersection area is taken as the pedestrian position. At the same time, based on the angle mutation of pedestrian which caused by the special structure of the indoor staircase, the pedestrian's location is matched to the real location of the key landmark (staircase). Then the cumulative error of the PDR method is eliminated. The method can locate more than one person at the same time, as long as you know the true location of a person, you can also know everyone’s real location in the same cluster and efficiently achieve indoor pedestrian positioning.
Highlights
With the rapid development of positioning technology, people have put forward higher and higher requirements of positioning
Through the way of Pedestrian Dead Reckoning (PDR), we can locate the approximate location of indoor pedestrians
The error accumulation problem of PDR method is effectively improved according to the method of probability constraint and the matching of indoor landmarks
Summary
With the rapid development of positioning technology, people have put forward higher and higher requirements of positioning. Single positioning method is difficult to meet people's positioning needs. In this case, some researchers propose a fusion of Bluetooth and map method (Zhao, 2016). Some researchers propose a fusion of Bluetooth and map method (Zhao, 2016) It improves the accuracy, it still has to rely on external equipment, universality is not strong. Pedestrian dead reckoning (PDR) method (Park, 2016) makes use of only a smart phone, without the need for other ancillary equipment, to carry out indoor pedestrian positioning. It can achieve multitarget simultaneous positioning, and effectively reduce the rate of error accumulation It aims to achieve a high efficiency indoor positioning, and position better
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