Research On Combination Positioning Technology Of Bluetooth AOA And Inertial Navigation

Location Based Service(LBS)plays a very important role in People’s Daily life.Positioning accuracy becomes an important indicator to measure the quality of location service.It is difficult to achieve good positioning effect by using only one positioning technology for indoor positioning.Two or more positioning technologies can be used to achieve higher positioning accuracy.Therefore,how to carry out continuous,high precision,stable and low cost indoor positioning has become a hot issue in today’s research.Aiming at the requirement of indoor location management system for positioning accuracy,this thesis mainly carries out the research on combination positioning technology of Bluetooth AOA and inertial navigation,and adopts the Pedestrian Dead Reckoning(PDR)algorithm based on inertial navigation system to restore walking paths.An inertial navigation error correction algorithm based on feature point terrain matching is proposed for indoor walking constrained terrain scenes.The feature points of turns and stairway are used to correct the two-dimensional and three-dimensional walking paths respectively.At the same time,combined with Bluetooth AOA positioning technology,a path correction algorithm based on the combination of Bluetooth AOA and inertial navigation is proposed.By selecting the appropriate location to lay the Bluetooth base station and using the positioning results of Bluetooth AOA,the path after terrain matching correction is further corrected.The main content of this thesis is as follows:1.Taking wearable inertial sensing node as the platform,PDR algorithm based on the strapdown inertial navigation system is used to restore the walking path.Aiming at the error accumulation problem,an inertial navigation error correction algorithm based on feature point terrain matching is proposed for indoor walking constrained terrain scenes.First,the algorithm constructs a standard path library.Secondly,according to the acceleration and attitude angle information collected by the pedestrian with inertial sensor after walking on the standard path,the walking path of the pedestrian is restored by using the PDR algorithm.Then feature point terrain matching is used to correct the walking path,and a two-dimensional path correction method based on terrain matching of turn feature points and a three-dimensional path correction method based on terrain matching of landing feature points are proposed respectively.2.Using Bluetooth positioning system as the platform,Bluetooth AOA positioning algorithm is used to obtain pedestrian location information in flat and empty straight line area.A path correction algorithm based on Bluetooth AOA and inertial navigation is proposed.According to the error between the corrected path after terrain matching and the standard real path,a specific location is selected to lay a ceiling Bluetooth base station.Bluetooth AOA positioning algorithm is used to obtain the pedestrian position coordinates within the coverage of Bluetooth base station,and the path after terrain matching correction is further corrected.Therefore,the two-dimensional correction of the pedestrian’s entire walking path is completed.