针对在狭长空间下传统的行人航迹推算(Pedestrian Dead Reckoning，PDR)方法易受传感器扰动与环境干扰，导致传感器数据存在误差累积无法实现行人位置精确估计的问题，结合室内走廊狭长空间典型场景下北斗伪卫星(Pseudosatellite，PL)的信号特征，提出了一种基于北斗信标辅助的PDR狭长空间定位方法。通过提取空间下确定性位置PL观测量数据特征，建立了数据特征与空间位置的指纹位置对应关系。设计了一种北斗 PL与 PDR组合的拐点检测方法。以北斗信标节点为基础，结合PDR适用范围大与应用性强的特性，将方向信息组合到卡尔曼滤波算法中完成设计。通过实测验证，与PDR定位方法相比，在室内狭长空间情况下组合系统的均方根误差(Root Mean Squared Er-ror，RMSE)定位精度提高了 54%。
PDR Narrow and Long Spatial Positioning Method Based on Beidou Beacon Assistance
Traditional Pedestrian Dead Reckoning(PDR)method in narrow spaces is susceptible to sensor disturbances and envi-ronmental disturbances,resulting in accumulated errors in sensor data and inability to achieve accurate estimation of pedestrian posi-tions.A PDR narrow space positioning method is proposed based on the signal characteristics of Beidou Pseudosatellite(PL)in typical indoor corridor narrow space scenarios,which is assisted by the Beidou beacon.By extracting the features of the deterministic position PL observation data in space,the corresponding relationship between data features and fingerprint position in space was established.A turning point detection method combining Beidou PL and PDR was designed.Based on the Beidou beacon node,combined with the wide applicability and strong applicability of PDR,the directional information is combined into the Kalman filtering algorithm to complete the design.Through actual testing and verification,compared with PDR positioning method,the Root Mean Squared Error(RMSE)positio-ning accuracy of the combined system in indoor narrow spaces has been improved by 54%.
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