针对目前行人航位推算(pedestrian dead reckoning,PDR)定位过程中存在累积误差,导致PDR定位轨迹存在较大偏移的问题,提出了一种基于闭合差校正的PDR定位轨迹优化方法,该方法利用PDR轨迹的闭合差对每一步的定位结果进行校正,从而整体优化PDR定位的轨迹,提高定位精度.实验结果表明,基于闭合差校正的PDR定位轨迹整体上更接近实际轨迹,校正后的PDR平均定位误差减少 0.283 4 m,在 1m以内的累积误差概率相较于校正之前提高了22%,有效提高了PDR定位精度,定位轨迹得到进一步优化.
Research on PDR localization trajectory optimization method based on closure error correction
A pedestrian dead reckoning(PDR)positioning trajectory optimization method based on closed difference correction is proposed to address the problem of accumulated errors in the current PDR positioning process,which leads to significant deviation of the PDR positioning trajectory.This method uses the closed difference of the PDR trajectory to correct the positioning results of each step,thereby optimizing the PDR positioning trajectory and improving positioning accuracy.The experimental results show that the PDR positioning trajectory based on closure error correction is closer to the actual trajectory,and the average positioning error of the corrected PDR is reduced by 0.283 4 m.The cumulative error probability within 1 m is increased by 22%compared to before correction,effectively improving the PDR positioning accuracy and further optimizing the positioning trajectory.
indoor positioningpedestrian dead reckoningclosing erroraccumulated errorcheck
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