iOS平台下惯性室内定位系统设计与实现.pdfVIP

1 Computer Engineering and Applications iOS 1 1 1 2 1 , , , , 1 1 1 2 1 CHEN Tianxiao , ZENG Pengfei , YU Zhiguo , WANG Xiaojian , GU Xiaofeng 1. , 214122 2., 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 iOS doi 10.3778/j.iss