物联网学报 ›› 2018, Vol. 2 ›› Issue (2): 58-64.doi: 10.11959/j.issn.2096-3750.2018.00054

• 理论与技术 • 上一篇    下一篇

基于声波测距与PDR融合的手机室内定位方法

庞茂1,王玫2,宋浠瑜1,罗丽燕1,阮琨1   

  1. 1 桂林电子科技大学认知无线电与信息处理省部共建教育部重点实验室，广西 桂林 541004
    2 桂林理工大学，广西 桂林 541004
  • 修回日期:2018-03-09 出版日期:2018-06-01 发布日期:2018-07-03
  • 作者简介:庞茂（1990-），男，桂林电子科技大学硕士生，主要研究方向为位置感知与协同定位。|王玫（1963-），女，桂林理工大学教授、博士生导师，主要研究方向为位置感知与协同定位、传感器网络、能效优化。|宋浠瑜（1984-），女，桂林电子科技大学博士生，主要研究方向为声源定位、声学场景重构与分析。|罗丽燕（1987-），女，博士，桂林电子科技大学讲师，主要研究方向为协同定位、智能感知信息处理。|阮琨（1993-），男，桂林电子科技大学硕士生，主要研究方向为位置感知与协同定位。
  • 基金资助:
    国家自然科学基金资助项目(61771151);广西重点基金资助项目(AB17292058);广西信息科学实验中心平台建设基金资助项目(PT1604);广西自然科学基金资助项目(2016GXNSFBA38014);中国博士后科学基金资助项目(2016M602921XB);广西研究生教育创新计划基金资助项目(YCSW2017137)

Smartphone-based indoor localization by fusion of acoustic ranging and PDR

Mao PANG1,Mei WANG2,Xiyu SONG1,Liyan LUO1,Kun RUAN1   

  1. 1 Key Laboratory of Cognitive Radio and Information Processing of Ministry of Education,Guilin University of Electronic Technology,Guilin 541004,China
    2 Guilin University of Technology,Guilin 541004,China
  • Revised:2018-03-09 Online:2018-06-01 Published:2018-07-03
  • Supported by:
    The National Natural Science Foundation of China(61771151);Key Funding Projects of Guangxi(AB17292058);Guangxi Information Science Experiment Center Platform Construction Project(PT1604);Guangxi Natural Science Foundation of China(2016GXNSFBA38014);China Postdoctoral Science Foundation Projects(2016M602921XB);Innovation Project of Foundation Guangxi Graduate Education(YCSW2017137)

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摘要：

在室内定位过程中，针对行人航迹推算（PDR,pedestrian dead reckoning）算法中惯性传感器的累积误差随时间增大的问题，提出一种基于智能手机的声波测距与PDR融合的室内定位方法。首先，利用PDR进行位置推算，然后，利用声波测量手机与墙之间的距离，结合已知的室内地图信息，对 PDR 中的累积误差进行纠正。在不需要布置任何节点的条件下，实现长时间稳定的室内定位。为解决长距离条件下墙体反射的回波信号难以检测的问题，利用智能手机内置双麦克风的特点，采用波束成形的方法，对目标墙体反射的回波进行信号增强，增大了声波测距的有效测量距离，从而扩大了所提定位方法的应用范围。实验结果表明，所提融合定位方法的平均定位误差为0.427 m，与单独使用PDR的定位结果相比，平均定位误差降低了2.748 m。

关键词: 室内定位, 声波测距, PDR, 波束成形, 智能手机

Abstract:

A novel indoor localization algorithm that integrates acoustic ranging and pedestrian dead reckoning (PDR) algorithm was presented,to reduce the accumulated error of the inertial sensors in the process of indoor positioning using PDR.Firstly,the PDR was used for position estimation.Then,the distance between the mobile phone and the wall was measured by using sound waves,and the cumulative error in the PDR was corrected by combining the above position and the distance with the known indoor map information.Hence,long-term stable indoor positioning can be achieved without laying out any nodes.In order to solve the problem that the echo signals reflected by the wall under long-distance conditions were difficult to detect,signal enhancement on the echoes reflected from the target wall was performed by using beamforming,taking advantage of the characteristics of the built-in dual microphones in the smartphone,then the effective measurement distance was increased and the application range of the proposed method was expanded.Experimental results show that the average positioning error of the proposed fusion localization method is 0.427 m.Compared with the results of using PDR alone,the average positioning error is reduced by 2.748 m.

Key words: indoor localization, acoustic ranging, PDR, beamforming, smartphone

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