An Improved PDR Localization Algorithm Based on Particle Filter

Authors

  • Wei Wang School of Information Science and Engineering, North University of China, Taiyuan 030051, China
  • Cunhua Wang School of Information Science and Engineering, North University of China, Taiyuan 030051, China
  • Zhaoba Wang School of Information Science and Engineering, North University of China, Taiyuan 030051, China
  • Xiaoqian Zhao School of Information Science and Engineering, North University of China, Taiyuan 030051, China

DOI:

https://doi.org/10.31577/cai_2020_1-2_340

Keywords:

Indoor positioning, PDR, particle filtering, particle swarm optimization, data fusion

Abstract

Pedestrian Dead Reckoning (PDR) helps to realize step frequency detection, step estimation and direction estimation through data collected by inertial sensors such as accelerometer, gyroscope, magnetometer, etc. The initial positioning information is used to calculate the position of pedestrians at any time, which can be applied to indoor positioning technology researching. In order to improve the position accuracy of pedestrian track estimation, this paper improves the step frequency detection, step size estimation and direction detection in PDR, and proposes a particle swarm optimization particle filter (PSO-IPF) PDR location algorithm. Using the built-in accelerometer information of the smartphone to carry out the step frequency detection, the step frequency parameter construction model is introduced to carry out the step estimation, the direction estimation is performed by the Kalman filter fusion gyroscope and the magnetometer information, and the positioning data is merged by using the particle filter. The fitness function in the particle swarm optimization process is changed in the localization algorithm to improve particle diversity and position estimation. The experimental results show that the error rate of the improved step frequency detection method is reduced by about 2.1 % compared with the traditional method. The angle accuracy of the direction estimation is about 4.12◦ higher than the traditional method. The overall positioning accuracy is improved.

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Published

2020-02-29

How to Cite

Wang, W., Wang, C., Wang, Z., & Zhao, X. (2020). An Improved PDR Localization Algorithm Based on Particle Filter. COMPUTING AND INFORMATICS, 39(1-2), 340–360. https://doi.org/10.31577/cai_2020_1-2_340

Issue

Section

Special Section Articles