Indoor combination positioning technology of Pseudolites and PDR

Satellite navigation signals are blocked by the buildings and can’t provide the positioning service for the indoor users. In 2016, Chinese government supports the research and development of the BeiDou/GPS pseudolites for indoor and outdoor seamless positioning in the national key research and development program, in order to reduce application costs, the combination technology of pseudolites and PDR is used for indoor positioning. Firstly, the seamless positioning system architecture, the signal format and navigation message, indoor positioning principle of Beidou/GPS pseudolites are introduced in this paper, the positioning results of array pseudolites begin to converge and the horizontal positioning error is about 1 meter, After the positioning results become very stable, the positioning error of 0.5 meters. Secondly, the pseudolites and PDR combination localization algorithm is studied, the average positioning error of PDR is 5.5 m and 10 m, while the average positioning error of PL\_PDR is 2 meters and 2.3 meters. It can be seen that the combined technology of pseudolites and PDR can achieve high-precision indoor positioning under a long time and long-distance conditions.

[1]  Prathima Agrawal,et al.  CA2T: Cooperative Antenna Arrays Technique for Pinpoint Indoor Localization , 2014, FNC/MobiSPC.

[2]  Yunhao Liu,et al.  Perpendicular Intersection: Locating Wireless Sensors With Mobile Beacon , 2010 .

[3]  Francis Soualle,et al.  Optimal Pulsing Schemes for Galileo Pseudolite Signals , 2005 .

[4]  Romit Roy Choudhury,et al.  SurroundSense: mobile phone localization via ambience fingerprinting , 2009, MobiCom '09.

[5]  Shigeki Sugano,et al.  GPS-based indoor positioning system with multi-channel pseudolite , 2008, 2008 IEEE International Conference on Robotics and Automation.

[6]  Lawrence Wai-Choong Wong,et al.  A robust dead-reckoning pedestrian tracking system with low cost sensors , 2011, 2011 IEEE International Conference on Pervasive Computing and Communications (PerCom).

[7]  Baoguo Yu,et al.  The Development, Test and Application of New Technology on Beidou/GPS Dual-Mode Pseudolites , 2015 .

[8]  H. S. Cobb,et al.  GPS Pseudolites : Theory, Design, and Applications , 1997 .

[9]  Jing Liu,et al.  Survey of Wireless Indoor Positioning Techniques and Systems , 2007, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[10]  F. Seco,et al.  A comparison of Pedestrian Dead-Reckoning algorithms using a low-cost MEMS IMU , 2009, 2009 IEEE International Symposium on Intelligent Signal Processing.

[11]  Zhang Heng,et al.  Pseudolite Cellular Network in Urban and Its High Precision Positioning Technology , 2017 .

[12]  Pat Fenton,et al.  HAPPI - a High Accuracy Pseudolite/GPS Positioning Integration , 1996 .

[13]  Feng Zhao,et al.  A reliable and accurate indoor localization method using phone inertial sensors , 2012, UbiComp.