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

doi:10.12263/DZXB.20211193

您当前的位置：

首页 >

文章列表页 >

单基站DTMB信号约束的PDR运动参数修正

智能时空信息服务技术 | 更新时间：2025-12-08

- 单基站DTMB信号约束的PDR运动参数修正
- PDR Motion Parameter Correction Constrained by Single Base Station DTMB Signals
- 电子学报 2022年50卷第4期页码：860-868
- 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：
  
  [ "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" ]
- 基金信息：
  
  国家自然科学基金(42171417);湖北省重点研发计划项目(2021BAA166)
- DOI：10.12263/DZXB.20211193
  中图分类号： P228;
- 收稿：2021-09-01，
  
  修回：2022-03-08，
  
  纸质出版：2022-04-25
- 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

references

陈锐志 , 陈亮 . 基于智能手机的室内定位技术的发展现状和挑战 [J]. 测绘学报 , 2017 , 46 ( 10 ): 1316 - 1326 .

CHEN R Z , CHEN L . Indoor positioning with smartphones: The state-of-the-art and the challenges [J]. Acta Geodaetica et Cartographica Sinica , 2017 , 46 ( 10 ): 1316 - 1326 . (in Chinese)

LU X C , CHEN L , SHEN N , et al . Decoding PPP corrections from BDS B2b signals using a software-defined receiver: An initial performance evaluation [J]. IEEE Sensors Journal , 2021 , 21 ( 6 ): 7871 - 7883 .

贾琼琼 , 吴仁彪 , 王文益 , 等 . 满足高精度测量的GNSS自适干扰抑制算法 [J]. 电子学报 , 2018 , 46 ( 11 ): 2753 - 2760 .

JIA Q Q , WU R B , WANG W Y , et al . GNSS adaptive interference suppression algorithm for high accuracy measurement [J]. Acta Electronica Sinica , 2018 , 46 ( 11 ): 2753 - 2760 . (in Chinese)

周牧 , 耿小龙 , 谢良波 , 等 . 室内Wi-Fi/PDR自适应鲁棒卡尔曼滤波融合定位方法 [J]. 电子学报 , 2019 , 47 ( 1 ): 9 - 15 .

ZHOU M , GENG X L , XIE L B , et al . Indoor Wi-Fi/PDR fusion localization based on adaptive and robust Kalman filter [J]. Acta Electronica Sinica , 2019 , 47 ( 1 ): 9 - 15 . (in Chinese)

任明荣 , 孟娟 , 王普 . MEMS-INS室内行人定位三维地图匹配算法 [J]. 电子学报 , 2021 , 49 ( 1 ): 111 - 116 .

REN M R , MENG J , WANG P . MEMS-INS based indoor pedestrian localization using three-dimensional map matching algorithm [J]. Acta Electronica Sinica , 2021 , 49 ( 1 ): 111 - 116 . (in Chinese)

YU Y , CHEN R Z , CHEN L , et al . Precise 3-D indoor localization based on Wi-Fi FTM and built-in sensors [J]. IEEE Internet of Things Journal , 2020 , 7 ( 12 ): 11753 - 11765 .

YU Y , CHEN R Z , CHEN L , et al . H-WPS: Hybrid wireless positioning system using an enhanced Wi-Fi FTM/RSSI/MEMS sensors integration approach [J]. IEEE Internet of Things Journal , 2023 , ( 99 ): 1 .

HOU X Y , BERGMANN J . Pedestrian dead reckoning with wearable sensors: A systematic review [J]. IEEE Sensors Journal , 2021 , 21 ( 1 ): 143 - 152 .

QIN T , LI P L , SHEN S J . VINS-mono: A robust and versatile monocular visual-inertial state estimator [J]. IEEE Transactions on Robotics , 2018 , 34 ( 4 ): 1004 - 1020 .

PEI L , LIU D H , ZOU D P , et al . Optimal heading estimation based multidimensional particle filter for pedestrian indoor positioning [J]. IEEE Access , 2018 , 6 : 49705 - 49720 .

CHEN L , JULIEN O , THEVENON P , et al . TOA estimation for positioning with DVB-T signals in outdoor static tests [J]. IEEE Transactions on Broadcasting , 2015 , 61 ( 4 ): 625 - 638 .

CHEN L , THEVENON P , SECO-GRANADOS G , et al . Analysis on the TOA tracking with DVB-T signals for positioning [J]. IEEE Transactions on Broadcasting , 2016 , 62 ( 4 ): 957 - 961 .

DAI L L , WANG Z C , PAN C Y , et al . Wireless positioning using TDS-OFDM signals in single-frequency networks [J]. IEEE Transactions on Broadcasting , 2012 , 58 ( 2 ): 236 - 246 .

Yang C , Chen L , Julien O , et al . Carrier phase tracking of OFDM-based DVB-T signals for precision ranging [C]// Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017) . Portland : Institute of Navigation , 2017 : 736 - 748 .

CONG L , WANG H D , QIN H L , et al . An environmentally-adaptive positioning method based on integration of GPS/DTMB/FM [J]. Sensors , 2018 , 18 ( 12 ): 4292 - 4313 .

郑紫微 , 杨知行 , 朱义胜 , 等 . 存在非线性失真和相位噪声影响的CP-OFDM与TDS-OFDM数字电视地面广播传输系统的性能分析 [J]. 电子学报 , 2004 , 32 ( 10 ): 1625 - 1629 .

ZHENG Z W , YANG Z X , ZHU Y S , et al . Performance analysis of the CP-OFDM-based and the TDS-OFDM-based digital television terrestrial broadcasting transmission systems in the presence of nonlinear distortions and phase noise [J]. Acta Electronica Sinica , 2004 , 32 ( 10 ): 1625 - 1629 . (in Chinese)

ONG C Y , SONG J , PAN C Y , et al . Technology and standards of digital television terrestrial multimedia broadcasting[Topics in Wireless Communications] [J]. IEEE Communications Magazine , 2010 , 48 ( 5 ): 119 - 127 .

RABINOWITZ M , SPILKER J J . A new positioning system using television synchronization signals [J]. IEEE Transactions on Broadcasting , 2005 , 51 ( 1 ): 51 - 61 .

KIM Y H , LEE J H . Joint maximum likelihood estimation of carrier and sampling frequency offsets for OFDM systems [J]. IEEE Transactions on Broadcasting , 2011 , 57 ( 2 ): 277 - 283 .

中国国家标准化管理委员会 . 数字电视地面广播传输系统帧结构、信道编码和调制 : GB 20600-2006 [S]. 2006 .

WANG X , HU B . A low-complexity ML estimator for carrier and sampling frequency offsets in OFDM systems [J]. IEEE Communications Letters , 2014 , 18 ( 3 ): 503 - 506 .

JAHN J , BATZER U , SEITZ J , et al . Comparison and evaluation of acceleration based step length estimators for handheld devices [C]// 2010 International Conference on Indoor Positioning and Indoor Navigation . Zurich : IEEE , 2010 : 1 - 6 .

MADGWICK O H S . An efficient orientation filter for inertial and inertial/magnetic sensor arrays [J]. Report x-io and University of Bristol(UK) , 2010 , 25 : 113 - 118 .

夏楠 , 王珏 , 李博 . 基于粒子滤波和交互多模型的移动定位方法 [J]. 电子学报 , 2019 , 47 ( 1 ): 197 - 203 .

XIA N , WANG J , LI B . A mobile localization method based on particle filter and interacting multiple models [J]. Acta Electronica Sinica , 2019 , 47 ( 1 ): 197 - 203 . (in Chinese)

MTi 100 系列产品参数 [EB/OL]. [2021] . https://www.xsens.cn/products/mti-100-series/ https://www.xsens.cn/products/mti-100-series/ .

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

双目视觉辅助PDR的组合导航定位方法

被动声纳粒子滤波检测前跟踪的检测门限设置方法

基于粒子滤波的交互式多模型说话人跟踪方法

基于分层采样粒子滤波的麦克风阵列说话人跟踪方法