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基于Wi-Fi即時(shí)定位與映射像素模板匹配的室內(nèi)運(yùn)動(dòng)地圖構(gòu)建與定位

周牧,  劉儀瑤,  楊小龍,  張巧,  田增山

周牧, 劉儀瑤, 楊小龍, 張巧, 田增山. 基于Wi-Fi即時(shí)定位與映射像素模板匹配的室內(nèi)運(yùn)動(dòng)地圖構(gòu)建與定位[J]. 電子與信息學(xué)報(bào), 2018, 40(5): 1050-1058. doi: 10.11999/JEIT170781
引用本文: 周牧, 劉儀瑤, 楊小龍, 張巧, 田增山. 基于Wi-Fi即時(shí)定位與映射像素模板匹配的室內(nèi)運(yùn)動(dòng)地圖構(gòu)建與定位[J]. 電子與信息學(xué)報(bào), 2018, 40(5): 1050-1058. doi: 10.11999/JEIT170781
ZHOU Mu, LIU Yiyao, YANG Xiaolong, ZHANG Qiao, TIAN Zengshan. Indoor Mobility Map Construction and Localization Based on Wi-Fi Simultaneous Localization and Mapping Pixel Template Matching[J]. Journal of Electronics & Information Technology, 2018, 40(5): 1050-1058. doi: 10.11999/JEIT170781
Citation: ZHOU Mu, LIU Yiyao, YANG Xiaolong, ZHANG Qiao, TIAN Zengshan. Indoor Mobility Map Construction and Localization Based on Wi-Fi Simultaneous Localization and Mapping Pixel Template Matching[J]. Journal of Electronics & Information Technology, 2018, 40(5): 1050-1058. doi: 10.11999/JEIT170781

基于Wi-Fi即時(shí)定位與映射像素模板匹配的室內(nèi)運(yùn)動(dòng)地圖構(gòu)建與定位

doi: 10.11999/JEIT170781
  • 2.

    (重慶郵電大學(xué)移動(dòng)通信技術(shù)重慶市重點(diǎn)實(shí)驗(yàn)室 重慶 400065) ②(天津師范大學(xué)天津市無線移動(dòng)通信與無線電能傳輸重點(diǎn)實(shí)驗(yàn)室 天津 300387)

基金項(xiàng)目: 

國家自然科學(xué)基金(61301126, 61471077)，長江學(xué)者和創(chuàng)新團(tuán)隊(duì)發(fā)展計(jì)劃(IRT1299)，重慶市科委重點(diǎn)實(shí)驗(yàn)室專項(xiàng)經(jīng)費(fèi)，重慶市基礎(chǔ)科學(xué)與前沿技術(shù)研究項(xiàng)目(cstc2017jcyjAX0380, cstc2015jcyjBX0065)，重慶市高校優(yōu)秀成果轉(zhuǎn)化資助項(xiàng)目(KJZH17117)，重慶市研究生科研創(chuàng)新項(xiàng)目(CYS17221)

Indoor Mobility Map Construction and Localization Based on Wi-Fi Simultaneous Localization and Mapping Pixel Template Matching

  • 2.

    (Chongqing Key Laboratory of Mobile Communication Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China)

Funds: 

The National Natural Science Foundation of China (61301126, 61471077), The Program for Changjiang Scholars and Innovative Research Team in University (IRT1299), The Special Fund of CSTC Key Laboratory, The Fundamental Science and Frontier Technology Research Project of Chongqing (cstc2017jcyjAX0380, cstc2015jcyjBX0065), The University Outstanding Achievement Transformation Project of Chongqing (KJZH17117), Postgraduate Scientific Research and Innovation Project of Chongqing (CYS17221)

  • 摘要: 傳統(tǒng)指紋定位方法由于建庫人力時(shí)間開銷大、系統(tǒng)通用性不強(qiáng)約束著指紋定位系統(tǒng)的推廣，為了解決該問題同時(shí)結(jié)合即時(shí)定位與映射(SLAM)技術(shù)的優(yōu)勢，該文提出一種新的Wi-Fi/微機(jī)電系統(tǒng)(MEMS)融合室內(nèi)運(yùn)動(dòng)地圖構(gòu)建與定位方法。首先利用行人航跡推算(PDR)、最小描述長度(MDL)原則和基于密度的空間聚類算法(DBSCAN)對眾包運(yùn)動(dòng)軌跡進(jìn)行預(yù)處理，提出基于軌跡主路徑的運(yùn)動(dòng)地圖構(gòu)建方法。之后提出基于像素模板的地圖匹配方法獲取地圖的絕對位置，并采用抗差擴(kuò)展卡爾曼濾波(EKF)對目標(biāo)位置進(jìn)行最優(yōu)估計(jì)。實(shí)驗(yàn)結(jié)果表明，所提聚類方法可以準(zhǔn)確構(gòu)建各區(qū)域運(yùn)動(dòng)地圖，在少量的人力時(shí)間開銷下實(shí)現(xiàn)較高的定位精度。
    Abstract: This papers propose a novel integrated Wi-Fi and Micro Electronic Mechanical Systems (MEMS) indoor mobility map construction and localization approach. First of all, a method is proposed for constructing mobility map based on trajectory main path by applying the Pedestrian Dead Reckoning (PDR), Minimum Description Length (MDL), and Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithms to the processing process of crowdsourcing trajectories. Then a pixel template matching technique is innovatively presented to obtain the absolute position of the map. Finally, the robust Extended Kalman Filter (EKF) algorithm is utilized to estimate the optimal target position. Which means the Simultaneous Localization And Mapping (SLAM) are completed. The experimental results show that the method of proposed clustering can accurately distinguish the motion regions. Also, the precision positioning can be realized with less labor and time through matching the absolute position of the motion map in the real environment successfully.
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出版歷程
  • 收稿日期:  2017-08-04
  • 修回日期:  2018-01-08
  • 刊出日期:  2018-05-19

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