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针对行人航位推算算法中误差积累的问题,提出并实现了一种蓝牙纠正+地图匹配辅助行人航位推算的室内定位方法:首先通过划分矢量域对手机航向角予以校正,削弱线性矢量域的累积误差,并使用蓝牙信号强度模型反演距离,达到纠正关键点的效果。实验结果表明,该方法在保证了PDR的实时性以及短时间内的高精度性的同时,大幅削弱了PDR的误差,在一定程度上提高了系统整体的精度、可靠性以及抗差性。
Aiming at the problem of error accumulation in the pedestrian navigation algorithm, a method of indoor positioning based on Bluetooth correction + map matching assisted pedestrian navigation is proposed and implemented. Firstly, the navigation angle of the mobile phone is corrected by dividing the vector field to weaken the linear vector domain Cumulative error, and the use of Bluetooth signal strength model inversion distance, to correct the key point effect. The experimental results show that this method can significantly reduce PDR error while ensuring the real-time performance and short-time accuracy of PDR, and improve the overall accuracy, reliability and robustness of the system to a certain extent.