Research Of UWB And Improved PDR Integration Algorithm Applied To Dynamic Indoor Positioning For Pedestrians

With the increasing number of human indoor activities and the rapid development of virtual reality technology,the access of pedestrians in the indoor environment is particularly critical.In order to improve the positioning accuracy of indoor positioning technology and meet the dynamic performance of pedestrian location,fusion indoor location technology has become a research hotspot of current positioning technology.This paper studies the key technology from two aspects of positioning accuracy and positioning dynamic performance,and improves the positioning technology based on a single method.Aiming at the problem of positioning accuracy,the UWB positioning module is introduced into the system,and the existing algorithm of pedestrian prediction is improved according to the symmetry characteristics of human lower limb movement process.In view of the dynamic performance of the positioning system,the inertial navigation and positioning module is introduced,and the improved PDR algorithm and the UWB positioning method are fused.Nowadays,inertial sensors have been widely used in various applications such as human motion monitoring and pedestrian positioning.As it is difficult for inertial sensors to accurately define the process of human movement,which brings data drift in human body positioning process,seriously affect the positioning accuracy and stability.The traditional PDR(Pedestrian Dead-Reckoning)algorithm which based on single IMU(Inertial measurement unit)can suppress the data drift,but failed to accurately calculate the number of walking steps and heading value,which can not meet the application requirements.In order to solve the above problems,this paper proposes an indoor dynamic positioning method with error self-correcting based on the symmetrical characteristics of human motion,which can obtain the definition basis of human motion process quickly.Based on this method,UWB(Ultra Wide Band)is introduced.UKF(unscented kalman filter)is applied to fuse inertial sensors data and UWB(Ultra Wide Band)data,inertial positioning is applied to make up for the defects of being susceptible to obstacles of UWB signal,and the UWB positioning is used to overcome the weakness of error accumulation of inertial positioning.The above method can not only improve the positioning accuracy,but also can improve the response of the positioning results.Finally,this paper designs a kind of indoor positioning test system based on the principle of capacitive touch induction,the system is used to test the static performance and dynamic performance of the indoor positioning method proposed in this paper.The results show that the positioning system both has high accuracy and good real-time performance.