Research On Error Elimination In Multi-sensor-based Dead-zone Positioning And Trajectory Tracing

Through GPS/BDS is widely used in out-door navigation system with high speed and high measurement accurency,but navigation and object trajectory detection is still limited in the GPS/BDS dead zone like indoor shopping mall or sunken pipe.Traditional object trajectory detection system,without a uniform standard,is very limited and difficult to large-scale popularity due to complex system and high cost.It's really worth to perform more research on the movement tracking system based on a low cost and independent intelligent device.With multiple high accurency and low cost sensors like embedded with accelerometer,electronic magnet-meter and gyroscope embedded in current widely used smart iPhone,it makes designing movement tracking APP to be realized more easily.The research and implementation of indoor positioning based on the smart phone has become a hot spot.This thesis chooses iPhone as hardware platform to implement the movement tracking system,and designed a new algorithm reducing errors in the system to make sure the system is working on a low cost but high accurency case.The main contents and results of the research in this paper are as follows:1.Firstly introduce the background of the GPS/BDS dead zone movement tracking system background and muti-reaserches current statues around the world.Compare the difference and limitation of popularity.2.Describe the accelerometer,electronic magnet-meter and gyroscope embed in iPhone working principle,build the model of how to calculate speed/displacement/direction of the iPhone based on sensors raw data.3.Research of the errors introduced in the movement tracking system and how to decrease them.Compare multi-mature-method of error decreasing and design a system cost efficiency based on compensation of dynamic threshold and Kalman filter.The new methodology controlled system error within 2%.4.Introduce the iOS platform software design flow.Fulfill the iPhone App coding of sensor data collection,dynamic threshold compensation and Kalman filter software design works,collect raw data and simulate the system working principle.Make sure system design meet the original expectation.This paper fulfilled the object trajectory detection in GPS/BDS dead zone.Based on newly designed compensation of dynamic threshold and Kalman filter,the new methodology controlled system error within 2% obviously reduced error and meet target.It is measurement system independent,low cost and a flexible system with high transport-ability and wide marketing values.