PDR Motion Parameter Correction Constrained by Single Base Station DTMB Signals

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

doi:10.12263/DZXB.20211193

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PDR Motion Parameter Correction Constrained by Single Base Station DTMB Signals

INTELLIGENT TIME-SPATIAL INFORMATION SERVICE TECHNOLOGY | 更新时间：2025-12-08

- PDR Motion Parameter Correction Constrained by Single Base Station DTMB Signals
- ACTA ELECTRONICA SINICA Vol. 50, Issue 4, Pages: 860-868(2022)
- 作者机构：
  
  武汉大学测绘遥感信息工程国家重点实验室，湖北武汉 430079
- 作者简介：
- 基金信息：
- DOI：10.12263/DZXB.20211193
  CLC： P228;
- Received：01 September 2021，
  
  Revised：2022-03-08，
  
  Published：25 April 2022
- 稿件说明：
移动端阅览
刘晓燕,陈亮,焦振航等.单基站DTMB信号约束的PDR运动参数修正[J].电子学报,2022,50(04):860-868.

LIU Xiao-yan,CHEN Liang,JIAO Zhen-hang,et al.PDR Motion Parameter Correction Constrained by Single Base Station DTMB Signals[J].ACTA ELECTRONICA SINICA,2022,50(04):860-868.
刘晓燕,陈亮,焦振航等.单基站DTMB信号约束的PDR运动参数修正[J].电子学报,2022,50(04):860-868. DOI： 10.12263/DZXB.20211193.

LIU Xiao-yan,CHEN Liang,JIAO Zhen-hang,et al.PDR Motion Parameter Correction Constrained by Single Base Station DTMB Signals[J].ACTA ELECTRONICA SINICA,2022,50(04):860-868. DOI： 10.12263/DZXB.20211193.

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.

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.

关键词

Keywords

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