基於智慧手機發展即時平滑器與約制演算法提升行人於空間中定位之精度

Using the On-line Smoothing and Constraint Algorithms to Improve the Accuracy of Pedestrian Indoor Navigation

廖振凱(Jhen-Kai Liao) ； 江凱偉(Kai-Wei Chiang) ； 周志明(Zhi-Ming Zhou) ； 李智鴻(Chih-Hung Li)

《航測及遙測學刊》 21卷2期 (2016/10) Pp. 107-123

https://doi.org/10.6574/JPRS.2016.21(2).4

摘要

近年來車載與空載移動製圖系統逐漸成熟，而智慧手機與穿戴式裝置正逐漸應用到日常生活之中，各種微機電系統感測器也隨之普及，具有潛力取代過去可攜式移動製圖系統所需配戴的設備。然而廣泛應用於車載和空載整合導航系統的慣性積分導航，卻不適用於行人室內定位。本研究使用控制點取代衛星定位系統，來源可以是傳統地測點、地圖、影像特徵點或無線射頻等室內定位技術。同時也針對慣性積分的誤差累積提出步速約制演算法與即時平滑器。實驗結果顯示本研究提出的方法，能夠有效提升使用慣性積分導航與智慧型手機的即時行人室內定位精度。

關鍵字

行人室內定位 ； 慣性導航系統 ； 智慧型手機

並列摘要

The vehicle-based and airborne mobile mapping system become a mature technology in recent years. The smartphone and wearable device are also gradually apply to our daily life. They have the potential to replace the past portable mobile mapping system with various and popular MEMS sensors. However, the inertial navigation is not suitable for pedestrian indoor navigation which generally using in vehicle-based and airborne mobile mapping system。This study proposes the indoor control points to replace the Global Navigation Satellite System in indoor. The indoor control points can be the ground control point, map point, feature point or provided by radio-based positioning technology. In addition, the walking velocity constraint and online smoothing are proposed for improve the accumulative error of inertial integration. The preliminary results show the proposed methods improve the accuracy of pedestrian indoor navigation with smartphone and inertial navigation significantly.

並列關鍵字

pedestrian indoor navigation ； Inertial Navigation System ； smartphone