中国激光, 2020, 47 (12): 1206001, 网络出版: 2020-11-26
基于隐马尔可夫模型的可见光与惯导融合室内定位系统 下载: 1033次
Visible Light and Inertial Navigation Fusion Indoor Positioning System Based on Hidden Markov Model
光通信 惯性导航 隐马尔可夫模型 融合定位 维特比算法 optical communications inertial navigation hidden Markov model fusion positioning Viterbi algorithm
摘要
针对大型室内场所用户移动定位复杂度较高、定位精度较低和定位不合理等问题,提出一种基于隐马尔可夫模型的可见光与惯导融合定位算法。首先在离线建库阶段建立室内停车场地图和定位指纹图,采集每个参考节点的可见光接收信号强度和节点间的距离与角度,建立隐马尔可夫模型。其次,在在线定位阶段,根据用户最大移动速度减小状态转移候选集,并获取可见光信号和运动信息。最后,利用改进的维特比算法进行用户轨迹匹配定位。仿真结果表明:所提算法在2500m 2室内停车场中能准确预测用户的运动轨迹,参考节点的预测准确率约为85%,平均定位误差约为3.35m;与其他4种定位算法相比,所提算法的定位轨迹连续、更平滑、精度更高。
Abstract
Aiming at the problems of high mobile positioning complexity, low positioning accuracy, and unreasonable positioning for users in large indoor places, a visible light and inertial navigation fusion positioning algorithm based on the hidden Markov model is proposed in this work. First, the indoor parking lot map and positioning fingerprint in the off-line database construction stage are established, the visible light receiving signal strength of each reference node and the distance and angle between the nodes are collected, and a hidden Markov model is established. Then, in the online positioning stage, the candidate set of state transfer is reduced according to the user''s maximum moving speed, and the visible light signal and motion information are obtained. Finally, an improved Viterbi algorithm is used for user trajectory matching and positioning. Simulation results show that the proposed algorithm can accurately predict the user''s trajectory in an indoor parking lot of 2500m 2, the prediction accuracy of the reference node is about 85%, and the average positioning error is about 3.35 m. Compared with other four positioning algorithms, the positioning trajectory of the proposed algorithm is more continuous and smooth with higher accuracy.
陈勇, 巫杰, 刘焕淋, 郑瀚. 基于隐马尔可夫模型的可见光与惯导融合室内定位系统[J]. 中国激光, 2020, 47(12): 1206001. Chen Yong, Wu Jie, Liu Huanlin, Zheng Han. Visible Light and Inertial Navigation Fusion Indoor Positioning System Based on Hidden Markov Model[J]. Chinese Journal of Lasers, 2020, 47(12): 1206001.