计算机科学 ›› 2025, Vol. 52 ›› Issue (11A): 250100083-4.doi: 10.11896/jsjkx.250100083
毛东方1,2, 蒋国平1
MAO Dongfang1,2, JIANG Guoping1
摘要： 为提高室内定位的精度和稳定度,提出了基于无迹卡尔曼滤波(Unscented Kalman Filtering,UKF),并融合蓝牙指纹库和行人航位推算(Pedestrian Dead Reckoning,PDR)的室内定位方法。首先,收集不同位置的信号强度数据,构建蓝牙指纹库。其次,利用手机内置加速度计、陀螺仪等多传感器融合进行行人航位推算。在此基础上使用UKF进行融合,克服行人航位推算易产生累计误差的缺点,从而实现高精度室内定位,具有成本低、灵敏度高、稳定性好、定位方法简便等特点。最后,仿真实验结果表明了该方法的有效性。
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