Abstract
This paper propose a scheme for indoor pedestrian location, based on UWB (Ultra Wideband)/PDR (Pedestrian Dead Reckoning) and Floor Map data. Firstly, a robust algorithm that uses Tukey weight factor and a pathological parameter for UWB positioning is proposed. The ill-conditioned position problem is solved for a scene where UWB anchors are placed on the same elevation of a narrow corridor. Secondly, a heading angle-computed strategy of PDR is put forward. According to the UWB positioning results, the location of pedestrians is mapped to the Floor Map, and 16 possible azimuth directions with 22.5° interval in this position are designed virtually. Compared to the heading angle of PDR, the center direction of the nearest interval is adopted as the heading. However, if the difference between the head angles of PDR and the nearest map direction is less than five degrees, the heading angle of PDR is regarded as the moving heading. Thirdly, an EKF (Extended Kalman Filter) algorithm is suggested for UWB/PDR/Floor Map fusion. By utilizing the positioning results of UWB, PDR, and the possible heading angle of Floor Map, high precision positioning results are acquired. Finally, two experimental scenarios are designed in a narrow corridor and computer room at a university. The accuracy of pedestrian positioning when all the data are available is verified in the first scenario; the positioning accuracy of a situation where part of UWB is unlock is verified in the second scenario. The results show that the proposed scheme can reliably achieve decimeter-level positioning.
Highlights
People live and work indoors more than 90% of their lives [1]
Thisaccuracy is in a similar of magnitude compared the environment with a large area, positioning can be order maintained at the order of 0.4 mtowith positioning results of the above which signalorder is locked in real time
Sixteenas wind the heading angle of INS and the nearest map direction is less than five degrees, the heading angle of INS is adopted the moving example, and B present two moving heading in 3 isas a sixteen windheading
Summary
People live and work indoors more than 90% of their lives [1]. The provision of accurate indoor positioning services is a real demand for the security of large buildings, such as the interior of the building, airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines, and other environments, especially in disaster sites, high-rise building rescue and other industries. The pedestrian location method based on UWB/PDR combination stands out among many indoor positioning technologies. The experimental results show that the positioning error of this method is reduced by 74.5% and 43.5% compared to that of PDR and UWB respectively. Proposed a scheme for indoor positioning by fusing the floor map, WiFi and smartphone sensor data This method can solve the problem of INS (Inertial Navigation System) heading error accumulation by using map constraints, but the accuracy of WiFi positioning datum is low. [27] show that the magnetic positioning system (MPS) can lead to a mean positioning error of the order of 0.6 m in a static scene, which is comparable with the commercial UWB system This level of positioning accuracy of the system requires evenly-distributed anchor equipment.
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