An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor Map
This paper propose a scheme for indoor pedestrian location, based on UWB (Ultra Wideband)/PDR (Pedestrian Dead Reckoning) and Floor Map data. Firstly, a robust algorithm that uses Tukey weight factor and a pathological parameter for UWB positioning is proposed. The ill-conditioned position problem i...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/11/2578 |
| _version_ | 1797999118925168640 |
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| author | Fei Liu Jian Wang Jixian Zhang Houzeng Han |
| author_facet | Fei Liu Jian Wang Jixian Zhang Houzeng Han |
| author_sort | Fei Liu |
| collection | DOAJ |
| description | This paper propose a scheme for indoor pedestrian location, based on UWB (Ultra Wideband)/PDR (Pedestrian Dead Reckoning) and Floor Map data. Firstly, a robust algorithm that uses Tukey weight factor and a pathological parameter for UWB positioning is proposed. The ill-conditioned position problem is solved for a scene where UWB anchors are placed on the same elevation of a narrow corridor. Secondly, a heading angle-computed strategy of PDR is put forward. According to the UWB positioning results, the location of pedestrians is mapped to the Floor Map, and 16 possible azimuth directions with 22.5° interval in this position are designed virtually. Compared to the heading angle of PDR, the center direction of the nearest interval is adopted as the heading. However, if the difference between the head angles of PDR and the nearest map direction is less than five degrees, the heading angle of PDR is regarded as the moving heading. Thirdly, an EKF (Extended Kalman Filter) algorithm is suggested for UWB/PDR/Floor Map fusion. By utilizing the positioning results of UWB, PDR, and the possible heading angle of Floor Map, high precision positioning results are acquired. Finally, two experimental scenarios are designed in a narrow corridor and computer room at a university. The accuracy of pedestrian positioning when all the data are available is verified in the first scenario; the positioning accuracy of a situation where part of UWB is unlock is verified in the second scenario. The results show that the proposed scheme can reliably achieve decimeter-level positioning. |
| first_indexed | 2024-04-11T10:59:31Z |
| format | Article |
| id | doaj.art-52a31a52e1fb43d883b05383a8a74277 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T10:59:31Z |
| publishDate | 2019-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-52a31a52e1fb43d883b05383a8a742772022-12-22T04:28:40ZengMDPI AGSensors1424-82202019-06-011911257810.3390/s19112578s19112578An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor MapFei Liu0Jian Wang1Jixian Zhang2Houzeng Han3School of Environment Science and Spatial Informatics, China University of Mining and Technology (CUMT), Xuzhou 221116, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaNational Quality Inspection and Testing Center for Surveying and Mapping Products, Beijing 100830, ChinaSchool of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, ChinaThis paper propose a scheme for indoor pedestrian location, based on UWB (Ultra Wideband)/PDR (Pedestrian Dead Reckoning) and Floor Map data. Firstly, a robust algorithm that uses Tukey weight factor and a pathological parameter for UWB positioning is proposed. The ill-conditioned position problem is solved for a scene where UWB anchors are placed on the same elevation of a narrow corridor. Secondly, a heading angle-computed strategy of PDR is put forward. According to the UWB positioning results, the location of pedestrians is mapped to the Floor Map, and 16 possible azimuth directions with 22.5° interval in this position are designed virtually. Compared to the heading angle of PDR, the center direction of the nearest interval is adopted as the heading. However, if the difference between the head angles of PDR and the nearest map direction is less than five degrees, the heading angle of PDR is regarded as the moving heading. Thirdly, an EKF (Extended Kalman Filter) algorithm is suggested for UWB/PDR/Floor Map fusion. By utilizing the positioning results of UWB, PDR, and the possible heading angle of Floor Map, high precision positioning results are acquired. Finally, two experimental scenarios are designed in a narrow corridor and computer room at a university. The accuracy of pedestrian positioning when all the data are available is verified in the first scenario; the positioning accuracy of a situation where part of UWB is unlock is verified in the second scenario. The results show that the proposed scheme can reliably achieve decimeter-level positioning.https://www.mdpi.com/1424-8220/19/11/2578UWBPDRFloor MapEKFPedestrians Indoor Localization |
| spellingShingle | Fei Liu Jian Wang Jixian Zhang Houzeng Han An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor Map Sensors UWB PDR Floor Map EKF Pedestrians Indoor Localization |
| title | An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor Map |
| title_full | An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor Map |
| title_fullStr | An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor Map |
| title_full_unstemmed | An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor Map |
| title_short | An Indoor Localization Method for Pedestrians Base on Combined UWB/PDR/Floor Map |
| title_sort | indoor localization method for pedestrians base on combined uwb pdr floor map |
| topic | UWB PDR Floor Map EKF Pedestrians Indoor Localization |
| url | https://www.mdpi.com/1424-8220/19/11/2578 |
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