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基于VIO和Wi-Fi指纹技术的室内定位系统设计
文邹韬,冯穗力
0
(华南理工大学 电子与信息学院,广州 510640)
摘要:
针对视觉惯性里程计(Visual-Inertial Odometry,VIO)在特征高度重复的场合易产生较大误差以及Wi-Fi指纹精确度不高等问题,提出了一种基于VIO和Wi-Fi指纹技术的室内定位方法。该系统运用VIO和Wi-Fi指纹在系统层面的结合,利用Wi-Fi指纹的无漂移、成本低的特点和VIO在一定范围内的高精确度,先进行Wi-Fi指纹粗定位,后进行VIO精定位,将大面积切割成小面积从而有效提高系统室内定位精确度,降低误差。该系统能在精定位的同时进行对指纹数据库的更新。实验结果表明,该系统的定位误差小于单独使用VIO或Wi-Fi指纹的系统,平均误差达0.15 m,能够有效提高定位精度。
关键词:  室内定位  VIO技术  Wi-Fi指纹  多状态约束卡尔曼滤波
DOI:
基金项目:广东省科技计划项目(2016A010101009)
Design of an indoor localization system based on visual-inertial odometry and Wi-Fi fingerprint
WEN Zoutao,FENG Suili
(School of Electronic and Information Engineering,South China University of Technology,Guangzhou 510640,China)
Abstract:
Aiming at the problems that in the situations with highly repeated features,visual-inertial odometry(VIO) can easily generate larger error and the accuracy of Wi-Fi fingerprint is not satisfying,a novel system based on VIO and Wi-Fi fingerprint is proposed.Combining VIO and optimized Wi-Fi fingerprint in system level,this system takes advantages of low price of Wi-Fi fingerprint and high accuracy of VIO in certain range.In order to improve the accuracy,it processes coarse location using Wi-Fi fingerprint and then fine location using VIO so as to divide a large area into small ones.The system can also update the Wi-Fi fingerprint database when doing the fine location.Experiment results show that the proposed system has a lower localization error(mean error to 0.15 m) compared with that using VIO or Wi-Fi fingerprint merely.The performance of comprehensive localization can improve user experience in practice.
Key words:  indoor localization  visual-inertial odometry(VIO)  Wi-Fi fingerprint  multi-state constraint Kalman filter(MSCKF)
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