Simulation Evaluation of Filtering Method for Improving Pedestrian Positioning Accuracy Using Signal Strengths

With the rapid growth of indoor positioning requirements without equipment and the convenience of channel state information acquisition, the research on indoor fingerprint positioning based on channel state information is increasingly valued. In this article, a multi-level fingerprinting approach is proposed, which is composed of two-level methods: the first layer is achieved by deep learning and the second layer is implemented by the optimal subcarriers filtering method. This method using channel state information is termed multi-level fingerprinting with deep learning. Deep neural networks are applied in the deep learning of the first layer of multi-level fingerprinting with deep learning, which includes two phases: an offline training phase and an online localization phase. In the offline training phase, deep neural networks are used to train the optimal weights. In the online localization phase, the top five closest positions to the location position are obtained through forward propagation. The second layer optimizes the results of the first layer through the optimal subcarriers filtering method. Under the accuracy of 0.6 m, the positioning accuracy of two common environments has reached, respectively, 96% and 93.9%. The evaluation results show that the positioning accuracy of this method is better than the method based on received signal strength, and it is better than the support vector machine method, which is also slightly improved compared with the deep learning method.

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A SINS/DVL Integrated Positioning System through Filtering Gain Compensation Adaptive Filtering

Sensors ◽

10.3390/s19204576 ◽

2019 ◽

Vol 19 (20) ◽

pp. 4576

Author(s):

Xiaozhen Yan ◽

Yipeng Yang ◽

Qinghua Luo ◽

Yunsai Chen ◽

Cong Hu

Keyword(s):

Adaptive Filtering ◽

Autonomous Underwater Vehicles ◽

Doppler Velocity ◽

Positioning System ◽

Positioning Error ◽

Error Statistics ◽

Positioning Accuracy ◽

Position Information ◽

Filtering Method ◽

Gain Compensation

Because of the complex task environment, long working distance, and random drift of the gyro, the positioning error gradually diverges with time in the design of a strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) integrated positioning system. The use of velocity information in the DVL system cannot completely suppress the divergence of the SINS navigation error, which will result in low positioning accuracy and instability. To address this problem, this paper proposes a SINS/DVL integrated positioning system based on a filtering gain compensation adaptive filtering technology that considers the source of error in SINS and the mechanism that influences the positioning results. In the integrated positioning system, an organic combination of a filtering gain compensation adaptive filter and a filtering gain compensation strong tracking filter is explored to fuse position information to obtain higher accuracy and a more stable positioning result. Firstly, the system selects the indirect filtering method and uses the integrated positioning error to model the navigation parameters of the system. Then, a filtering gain compensation adaptive filtering method is developed by using the filtering gain compensation algorithm based on the error statistics of the positioning parameters. The positioning parameters of the system are filtered and information on errors in the navigation parameters is obtained. Finally, integrated with the positioning parameter error information, the positioning parameters of the system are solved, and high-precision positioning results are obtained to accurately position autonomous underwater vehicles (AUVs). The simulation results show that the SINS/DVL integrated positioning method, based on the filtering gain compensation adaptive filtering technology, can effectively enhance the positioning accuracy.

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