摘要： 针对室内定位的个人航位推测(PDR)中漂移导致定位误差累积的问题，提出一种微机电系统传感器整合的PDR算法。根据典型计步器原理及步长估算获取位移信息，在计步算法中加入动态时间窗口及动态加速度阈值，以得到更精确的计步结果。利用捷联航向角校正磁航向角得到校正后的航向角，以修正定位中的累积误差。实验结果表明，室内定位精度距离误差可控制在5%以内，计步结果精度高，易于求得航向角，又能在一定程度上校正长时间漂移等因素带来的位置误差。

关键词: 室内定位, 个人航位推测, 步长, 定位误差, 微机电系统传感器, 航向角

Abstract: Because of the accumulation of positioning errors due to the drift of Personal Dead Reckoning(PDR) for indoor localization, this paper puts forward a Micro Electro Mechanical System(MEMS) sensor integration of PDR algorithm. It includes the following three points: It obtains displacement information based on typical pedometer principle and stride length estimate, joins dynamic time window and acceleration threshold in stride calculation algorithm, and gets the angle between the walking direction and magnetic north direction with the magnetometer and gyroscope to correct the positioning accumulative error. It realizes indoor location and navigation. The result proves that the distance errors of indoor localization experiment can be controlled within 5%, and the stride calculation is highly precise, the azimuth algorithm is easy to deal with, and it can rectify error because of long time drift in certain extent.

Key words: indoor localization, Personal Dead Reckoning(PDR), stride length, positioning error, Micro Electro Mechanical System (MEMS) sensor, azimuth angle

中图分类号: 

• TP301.6