电子学报 ›› 2022, Vol. 50 ›› Issue (4): 860-868.DOI: 10.12263/DZXB.20211193

• 智能时空信息服务技术 • 上一篇    下一篇

单基站DTMB信号约束的PDR运动参数修正

刘晓燕, 陈亮, 焦振航, 卢祥晨   

  1. 武汉大学测绘遥感信息工程国家重点实验室,湖北 武汉 430079
  • 收稿日期:2021-09-01 修回日期:2022-03-08 出版日期:2022-04-25 发布日期:2022-04-25
  • 作者简介:刘晓燕 女,1991年出生,内蒙古呼和浩特人.现为武汉大学测绘遥感信息工程国家重点实验室博士研究生.主要研究方向为智能手机泛在定位、多源融合室内外无缝定位技术等. E-mail: xiaoyanliu@whu.edu.cn
    陈 亮 男,1977年出生,江苏南通人.现为武汉大学测绘遥感信息工程国家重点实验室教授、博士生导师,导航定位与位置服务研究室主任,国家海外高层次人才引进计划青年项目入选人才.主要研究方向为5G多载波导航新体制理论与方法、智能手机泛在定位、多源融合室内外无缝导航等.E-mail: l.chen@whu.edu.cn
    焦振航 男,1993年出生,河南郑州人.现为武汉大学测绘遥感信息工程国家重点实验室博士研究生.主要研究方向为基于多载波通信信号(WiFi,4G,DTMB等)的测距与定位、通信信号和GNSS的融合定位.E-mail: 2016286190128@whu.edu.cn
    卢祥晨 男,1995年出生,福建三明人.现为武汉大学测绘遥感信息工程国家重点实验室博士研究生.主要研究方向为低轨卫星导航增强、GNSS信号处理、室内外无缝定位.E-mail: 2018286190164@whu.edu.cn
  • 基金资助:
    国家自然科学基金(42171417);湖北省重点研发计划项目(2021BAA166)

PDR Motion Parameter Correction Constrained by Single Base Station DTMB Signals

LIU Xiao-yan, CHEN Liang, JIAO Zhen-hang, LU Xiang-chen   

  1. Department of State Key Laboratory of Information Engineering in Surveying,Mapping and Remote Sensing,Wuhan University,Wuhan,Hubei 430079,China
  • Received:2021-09-01 Revised:2022-03-08 Online:2022-04-25 Published:2022-04-25

摘要:

目前,全球卫星导航系统(Global Navigation Satellite Systems,GNSS)在室外开阔环境可提供稳定可靠的定位服务,但由于卫星信号的遮挡和衰减,在GNSS弱信号环境依然存在着无法高精度定位的挑战.基于运动传感器的行人航迹推算(Pedestrian Dead Reckoning,PDR)是比较有效的定位补充方案,但是定位过程中需要校准初始航向角,且面临着误差累积的关键问题.数字地面多媒体广播(Digital Terrestrial Multimedia Broadcasting,DTMB)信号频率低、穿透力强,且信号发射塔在城市中的布设基本完善,在定位方面具有很大潜能.基于此,本文提出一种单基站DTMB信号约束的PDR运动参数修正方法.本文开发了一套完整的基于软件无线电的DTMB信号接收机,并研究了基于DTMB信号的无线测距方法.利用DTMB无线距离构建初始航向角的约束方程,通过求解该方程可对PDR的初始航向角进行校正.为了减少PDR运动过程中的累积误差,通过粒子滤波框架将PDR运动参数与DTMB无线距离进行融合,获得行人的修正定位结果.实测结果表明,本文方法在DTMB信号通视场景和非完全通视场景下均可有效定位,且定位误差为95%,相比PDR分别降低了41%和30%,验证了提出方法的可行性及有效性.

关键词: 全球卫星导航系统, 数字地面多媒体广播, 行人航迹推算, 粒子滤波

Abstract:

Currently, global navigation satellite systems(GNSS) can provide stable and reliable positioning services in open environments. However, due to the occlusion and attenuation of satellite signals, there is still challenges of high accuracy positioning in weak signal environments. Pedestrian dead reckoning(PDR) is an effective complementary solution for positioning, but it needs an initial heading angle and faces the critical problem of error accumulation. The digital terrestrial multimedia broadcasting(DTMB) signals have strong transmission power, which contributes to better urban propagation and building penetration, and the signal transmitters are well placed in the city, so it has great potential in terms of positioning. To this end, this paper proposed a PDR motion parameter correction method constrained by the single base station DTMB signals. In our study, a complete DTMB signal receiver based on software radio is developed, and the wireless ranging method based on DTMB signal is studied. The constraint function of the initial heading angle is constructed by wireless distance, and the initial heading angle of PDR can be corrected by solving the function. To reduce the accumulated errors during the pedestrian motion, the PDR motion parameters are fused with the wireless distance through particle filtering to obtain the corrected positioning results for pedestrians. The results of the field test in Wuhan, China, showed that the positioning errors of the proposed method can effectively position in both DTMB signal intervisibility scene and incomplete intervisibility scene. Compared with PDR, the 95% positioning error is reduced by 41% and 30% respectively, which verifies the feasibility and effectiveness of the proposed method.

Key words: global navigation satellite systems, digital terrestrial multimedia broadcasting, pedestrian dead reckoning, particle filter

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