李维,黄鹤,罗德安

• 1:北京建筑大学测绘与城市空间信息学院
• 2:北京未来城市设计高精尖创新中心

摘要(Abstract)：

针对粒子滤波算法在室内地磁分布的连续性变化中会发生滤波发散,加之算法中重采样步骤使该现象恶化,直接导致室内定位过程中目标丢失的问题。该文受Hausdorff距离度量法中点集匹配思想的启发,提出了一种利用初定位误差作为最大粒子匹配距离的约束思想,通过缩小匹配空间的区域范围的方法来解决传统算法的发散问题。最后实验表明,此方法解决了粒子滤波器在地磁匹配中出现的滤波发散现象,同时使得定位结果更加快速收敛。

关键词(KeyWords)： 室内定位;粒子滤波;定位误差;Hausdorff距离;地磁匹配;定位误差约束

Abstract:

Keywords:

基金项目(Foundation): 国家重点研发计划项目(2017YFB0503702);; 现代城市测绘国家地理信息局重点实验室开放基金项目(20131201NZ)

作者(Author): 李维,黄鹤,罗德安

DOI: 10.16251/j.cnki.1009-2307.2018.07.017

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