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Received:June 02, 2022 Revised:July 01, 2022
中文摘要: 如今, 全球导航卫星系统(GNSS)基本解决了室外开阔环境下的实时高精度定位问题. 然而, 随着城市化进程加快, 为受到GNSS信号干扰的密集建筑物场所提供行人导航服务也产生了大量需求, 并推动室内定位技术近些年取得了较大进展. 在此基础上, 由于目前还没有任何单一普适的定位方式解决室内外环境的无缝过渡, 因此, 为了解决导航领域“最后一公里”的难题, 无缝导航技术开启了新的热点与课题. 本文总结了行人室内导航的多传感器融合技术: (1) 从基于无线射频信号到非电信号分别分析比较单一传感器在室内定位中的优势与局限性; (2) 介绍了室内多传感器融合领域的定位手段, 包括多模式指纹融合、基于几何测距融合与基于PDR技术融合. 最后, 研究了室内定位技术应用于无缝导航的解决方案, 展示了室内外环境下无缝定位的挑战与前景. 本工作为后续实现高精度无缝定位研究提供参考与帮助.
Abstract:Nowadays, the global navigation satellite system (GNSS) has basically achieved real-time positioning with high precision in outdoor open environments. With the acceleration of urbanization, however, providing pedestrian navigation services for densely built-up sites disturbed by GNSS signals generates great demand, which has significantly promoted indoor positioning technology in recent years. Furthermore, as there is no single universal positioning method to realize the seamless transition between indoor and outdoor environments, seamless navigation technology introduces new hot spots and research topics to solve the “last-kilometer” problem in the navigation field. This study summarizes the multi-sensor fusion technology for indoor pedestrian navigation: (1) The advantages and limitations of a single sensor in indoor positioning are analyzed and compared from the perspective of radio frequency signals and non-electrical signals separately; (2) the positioning methods in the field of indoor multi-sensor fusion are introduced, including multimodal fingerprint fusion, geometric ranging fusion, and PDR-based fusion. Finally, the solution to the application of indoor positioning technology in seamless navigation is studied, and the challenges and prospects of seamless positioning in indoor and outdoor environments are presented. The research provides references and assistance to the follow-up research on high-precision seamless positioning.
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基金项目:国家自然科学基金(41474026)
| Author Name | Affiliation | E-mail |
| LIU Yu | School of Geomatics, Anhui University of Science and Technology, Huainan 232001, China
Key Laboratory of Aviation-aerospace-ground Cooperative Monitoring and Early Warning of Coal Mining-induced Disasters of Anhui Higher Education Institutes, Anhui University of Science and Technology, Huainan 232001, China
Coal Industry Engineering Research Center of Mining Area Environmental and Disaster Cooperative Monitoring, Anhui University of Science and Technology, Huainan 232001, China | 2361203186@qq.com |
| LIU Shuang | School of Geomatics, Anhui University of Science and Technology, Huainan 232001, China
Key Laboratory of Aviation-aerospace-ground Cooperative Monitoring and Early Warning of Coal Mining-induced Disasters of Anhui Higher Education Institutes, Anhui University of Science and Technology, Huainan 232001, China
Coal Industry Engineering Research Center of Mining Area Environmental and Disaster Cooperative Monitoring, Anhui University of Science and Technology, Huainan 232001, China | |
| HAN Yu-Chen | School of Geomatics, Anhui University of Science and Technology, Huainan 232001, China
Key Laboratory of Aviation-aerospace-ground Cooperative Monitoring and Early Warning of Coal Mining-induced Disasters of Anhui Higher Education Institutes, Anhui University of Science and Technology, Huainan 232001, China
Coal Industry Engineering Research Center of Mining Area Environmental and Disaster Cooperative Monitoring, Anhui University of Science and Technology, Huainan 232001, China | |
| ZHU Ping | School of Geomatics, Anhui University of Science and Technology, Huainan 232001, China
Key Laboratory of Aviation-aerospace-ground Cooperative Monitoring and Early Warning of Coal Mining-induced Disasters of Anhui Higher Education Institutes, Anhui University of Science and Technology, Huainan 232001, China
Coal Industry Engineering Research Center of Mining Area Environmental and Disaster Cooperative Monitoring, Anhui University of Science and Technology, Huainan 232001, China | |
| Author Name | Affiliation | E-mail |
| LIU Yu | School of Geomatics, Anhui University of Science and Technology, Huainan 232001, China
Key Laboratory of Aviation-aerospace-ground Cooperative Monitoring and Early Warning of Coal Mining-induced Disasters of Anhui Higher Education Institutes, Anhui University of Science and Technology, Huainan 232001, China
Coal Industry Engineering Research Center of Mining Area Environmental and Disaster Cooperative Monitoring, Anhui University of Science and Technology, Huainan 232001, China | 2361203186@qq.com |
| LIU Shuang | School of Geomatics, Anhui University of Science and Technology, Huainan 232001, China
Key Laboratory of Aviation-aerospace-ground Cooperative Monitoring and Early Warning of Coal Mining-induced Disasters of Anhui Higher Education Institutes, Anhui University of Science and Technology, Huainan 232001, China
Coal Industry Engineering Research Center of Mining Area Environmental and Disaster Cooperative Monitoring, Anhui University of Science and Technology, Huainan 232001, China | |
| HAN Yu-Chen | School of Geomatics, Anhui University of Science and Technology, Huainan 232001, China
Key Laboratory of Aviation-aerospace-ground Cooperative Monitoring and Early Warning of Coal Mining-induced Disasters of Anhui Higher Education Institutes, Anhui University of Science and Technology, Huainan 232001, China
Coal Industry Engineering Research Center of Mining Area Environmental and Disaster Cooperative Monitoring, Anhui University of Science and Technology, Huainan 232001, China | |
| ZHU Ping | School of Geomatics, Anhui University of Science and Technology, Huainan 232001, China
Key Laboratory of Aviation-aerospace-ground Cooperative Monitoring and Early Warning of Coal Mining-induced Disasters of Anhui Higher Education Institutes, Anhui University of Science and Technology, Huainan 232001, China
Coal Industry Engineering Research Center of Mining Area Environmental and Disaster Cooperative Monitoring, Anhui University of Science and Technology, Huainan 232001, China | |
引用文本：
刘宇,刘双,韩雨辰,朱平.室内定位技术及其在无缝导航应用研究进展.计算机系统应用,2023,32(1):29-40
LIU Yu,LIU Shuang,HAN Yu-Chen,ZHU Ping.Research Progress of Indoor Positioning Technology and Its Application in Seamless Navigation.COMPUTER SYSTEMS APPLICATIONS,2023,32(1):29-40
