基于地图匹配的室内定位算法研究

在对室内环境进行定位的过程中，基于粒子滤波的地图匹配算法能够实现室内定位结果与地图数据的有效融合。目前此类方法主要存在地图匹配时穿墙检测算法计算量大以及定位结果位于不可达区域的问题。针对穿墙检测算法计算量大的问题，在栅格地图的基础上建立地图信息矩阵，提出了一种基于地图信息矩阵的穿墙检测算法，在保证正确检测出穿墙粒子的同时，降低计算量；针对定位结果位于不可达区域的问题，提出了一种基于粒子滤波多重权重更新的地图匹配算法进行改进。理论分析和实测结果均验证了改进算法的合理性和有效性。

Research on assisted location algorithm based on map matching

During the process of indoor positioning, the map matching algorithm based on particle filtering can effectively fuse the indoor positioning results with the map data. Currently, this method mainly faces two problems: the calculation complexity of the wall-crossing detection algorithm during map matching and issue of the positioning results being in unreachable areas. To address the issue of high calculation complexity in the wall-crossing detection algorithm, we propose a wall-crossing detection algorithm based on a map information matrix on a grid map, which reduces the calculation complexity while ensuring the correct detection of wall-crossing particles. To address the issue of positioning results being in unreachable areas, we propose a map matching algorithm based on particle filtering with multiple weight updates to correct positioning results in unreachable areas. Theoretical analysis and experimental results demonstrate the rationality and effectiveness of the improved algorithm.