iOS平台下惯性室内定位系统设计与实现.pdf

1 Computer Engineering and Applications 计算机工程与应用 iOS 平台下惯性室内定位系统设计与实现 陈天啸 1, 曾鹏飞 1, 虞致国 1, 王晓涧 2, 顾晓峰 1 CHEN Tianxiao1, ZENG Pengfei1, YU Zhiguo1, WANG Xiaojian2, GU Xiaofeng1 1.江南大学 轻工过程先进控制教育部重点实验室,江苏 无锡 214122 2.无锡市航道管理处,江苏 无锡 214031 1. Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi 214122, China 2. Wuxi Waterway Management Division, Wuxi 214031, China CHEN Tianxiao, ZENG Pengfei, YU Zhiguo, WANG Xiaojian, GU Xiaofeng. Design and implementation of inertial indoor positioning system based on iOS platform. Computer Engineering and Applications Abstract：To meet the requirements of realizing three-dimensional indoor positioning without global positioning system and other wireless networks, an inertial indoor positioning algorithm is proposed. In this algorithm, the three-dimensional acceleration is firstly obtained by combining the accelerometer with the gyroscope. The three-dimensional velocity and position are then calculated by integral. A zero velocity update method is used to improve the positioning accuracy and rate of success. The detection of motionless status between moving steps is judged by combining the magnitude of angular velocity with the magnitude and variance of acceleration. An ex- tended Kalman filter is designed for this method to correct the velocity and the position. The proposed inertial in- door positioning system is realized based on the iOS platform, and its effectiveness is finally verified. Key words：iOS platform; inertial; indoor positioning; extended Kalman filter; zero velocity update 摘 要：针对缺少 GPS 及其它无线定位网络环境下的三维室内定位需求，提出了一种基于惯性测量的室内定 位算法。该算法首先通过加速度计与陀螺仪的配合，获取设备运动的三维加速度，然后通过积分得到三维速 度与位移。为提高定位成功率与准确性，引入了零速度修正方法，结合角速度模值、加速度模值及其方差进 行静止状态检测，并利用设计的扩展型卡尔曼滤波器对速度和位移进行修正。最后对使用该算法的惯性室内 定位系统在 iOS 平台上进行了实现及有效性验证。 关键词：iOS 平台；惯性；室内定位；扩展型卡尔曼滤波器；零速度修正 文献标