INS/Map Indoor Pedestrian Location Based On Cascaded Structure Filtering

With the development of science and technology,the research of location-based service has been deepening gradually.At present,there is a relatively perfect system for outdoor location service,while there is still no relatively mature system for indoor location.Therefore,obtaining accurate location information in indoor environment has become a research hotspot.Aiming at the problem of low positioning accuracy in shoe-bound indoor pedestrian navigation with inertial sensor as the core,this paper proposes a cascaded structure filtering inertial navigation/map indoor pedestrian positioning scheme by combining the indoor map information.Firstly,the common coordinate system of indoor navigation is introduced,and the working principle of strapdown inertial navigation is described.The system error model is established,and the pedestrian navigation results are corrected by using the zero-velocity update algorithm.At the same time,in order to solve the problem that the zero velocity update can not effectively solve the heading Angle error,a particle filter algorithm based on indoor map information is proposed to correct the error.By analyzing the advantages and disadvantages of the two kinds of filters,a cascade structure is established to flexibly use the two kinds of filters.Secondly,a low cost,fast and accurate indoor digital map acquisition method is proposed.Particle filter was established based on dead-reckoning model of pedestrian,and the weight information of particles in the particle filter was updated by the "through the wall" detection method using indoor map information to improve the positioning accuracy of indoor pedestrian.The landmark matching algorithm is used to correct the position of pedestrians at the turn by establishing landmarks at the turn.Finally,an indoor pedestrian navigation and positioning experiment is carried out using MEMS inertial sensor.Experiments with different trajectories were carried out on different floors,and the test results showed that: Inertial navigation based on cascade structure filter/map of indoor pedestrian positioning method can effectively reduce the error accumulation of inertial navigation problem,correcting the traditional algorithm using zero velocity correction error correction system,because we can not solve the problem of the heading Angle error caused by the pedestrian path "wall" phenomenon,reduce the position of pedestrian movement and the heading error,the positioning precision is improved.There are 36 pictures,5 tables and 74 references.