Indoor Positioning Integrating PDR/Geomagnetic Positioning Based on the Genetic-Particle Filter

This paper proposes a fusion indoor positioning method that integrates the pedestrian dead-reckoning (PDR) and geomagnetic positioning by using the genetic-particle filter (GPF) algorithm. In the PDR module, the Mahony complementary filter (MCF) algorithm is adopted to estimate the heading angles. T...

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Bibliographic Details
Published in:Applied sciences 2020-01, Vol.10 (2), p.668
Main Authors: Sun, Meng, Wang, Yunjia, Xu, Shenglei, Cao, Hongji, Si, Minghao
Format: Article
Language:English
Subjects:
Accelerometers
Accuracy
Algorithms
Coordinates
Error correction & detection
Fingerprints
genetic algorithm
geomagnetic positioning
Geomagnetism
indoor positioning
Magnetic fields
Methods
Mutation
Optimization
particle filter
pdr
Point mutation
Radio frequency identification
Root-mean-square errors
Smartphones
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Summary:This paper proposes a fusion indoor positioning method that integrates the pedestrian dead-reckoning (PDR) and geomagnetic positioning by using the genetic-particle filter (GPF) algorithm. In the PDR module, the Mahony complementary filter (MCF) algorithm is adopted to estimate the heading angles. To improve geomagnetic positioning accuracy and geomagnetic fingerprint specificity, the geomagnetic multi-features positioning algorithm is devised and five geomagnetic features are extracted as the single-point fingerprint by transforming the magnetic field data into the geographic coordinate system (GCS). Then, an optimization mechanism is designed by using gene mutation and the method of reconstructing a particle set to ameliorate the particle degradation problem in the GPF algorithm, which is used for fusion positioning. Several experiments are conducted to evaluate the performance of the proposed methods. The experiment results show that the average positioning error of the proposed method is 1.72 m and the root mean square error (RMSE) is 1.89 m. The positioning precision and stability are improved compared with the PDR method, geomagnetic positioning, and the fusion-positioning method based on the classic particle filter (PF).
ISSN:2076-3417
2076-3417
DOI:10.3390/app10020668