Department of Environmental Information and Engineering, Chung Cheng Institute of Technology, National Defense University, Taoyuan 33551, Taiwan.
Department of Land Economics, National Chengchi University, Taipei 11605, Taiwan.
Sensors (Basel). 2018 Dec 5;18(12):4285. doi: 10.3390/s18124285.
Current mainstream navigation and positioning equipment, intended for providing accurate positioning signals, comprise global navigation satellite systems, maps, and geospatial databases. Although global navigation satellite systems have matured and are widespread, they cannot provide effective navigation and positioning services in covered areas or areas lacking strong signals, such as indoor environments. To solve the problem of positioning in environments lacking satellite signals and achieve cost-effective indoor positioning, this study aimed to develop an inexpensive indoor positioning program, in which the positions of users were calculated by pedestrian dead reckoning (PDR) using the built-in accelerometer and gyroscope in a mobile phone. In addition, the corner and linear calibration points were established to correct the positions with the map assistance. Distance, azimuth, and rotation angle detections were conducted for analyzing the indoor positioning results. The results revealed that the closure accuracy of the PDR positioning was enhanced by more than 90% with a root mean square error of 0.6 m after calibration. Ninety-four percent of the corrected PDR positioning results exhibited errors of <1 m, revealing a desk-level positioning accuracy. Accordingly, this study successfully combined mobile phone sensors with map assistance for improving indoor positioning accuracy.
当前主流的导航和定位设备旨在提供准确的定位信号，包括全球导航卫星系统、地图和地理空间数据库。尽管全球导航卫星系统已经成熟并广泛应用，但它们无法在覆盖区域或信号较弱的区域（如室内环境）提供有效的导航和定位服务。为了解决卫星信号覆盖不足环境中的定位问题，并实现经济高效的室内定位，本研究旨在开发一种低成本的室内定位程序，该程序使用移动电话内置的加速度计和陀螺仪通过行人航位推算（PDR）来计算用户的位置。此外，还建立了拐角和线性校准点，以便借助地图辅助来修正位置。通过距离、方位和旋转角度检测来分析室内定位结果。结果表明，经过校准后，PDR 定位的闭合精度提高了 90%以上，均方根误差为 0.6 米。94%的修正 PDR 定位结果误差<1 米，表明具有桌面级别的定位精度。因此，本研究成功地将手机传感器与地图辅助相结合，提高了室内定位精度。
