基于Wi-Fi即时定位与映射像素模板匹配的室内运动地图构建与定位

doi:10.11999/JEIT170781

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Abstract This papers propose a novel integrated Wi-Fi and Micro Electronic Mechanical Systems (MEMS) indoor mobility map construction and localization approach. First of all, a method is proposed for constructing mobility map based on trajectory main path by applying the Pedestrian Dead Reckoning (PDR), Minimum Description Length (MDL), and Density-Based Spatial Clustering of Applications with Noise (DBSCAN) algorithms to the processing process of crowdsourcing trajectories. Then a pixel template matching technique is innovatively presented to obtain the absolute position of the map. Finally, the robust Extended Kalman Filter (EKF) algorithm is utilized to estimate the optimal target position. Which means the Simultaneous Localization And Mapping (SLAM) are completed. The experimental results show that the method of proposed clustering can accurately distinguish the motion regions. Also, the precision positioning can be realized with less labor and time through matching the absolute position of the motion map in the real environment successfully.

Key words： Wi-Fi Indoor localization Simultaneous Localization And Mapping (SLAM) Template matching Density clustering

Received: 04 August 2017 Published: 14 March 2018

PACS:

TN929.5

Fund:The National Natural Science Foundation of China (61301126, 61471077), The Program for Changjiang Scholars and Innovative Research Team in University (IRT1299), The Special Fund of CSTC Key Laboratory, The Fundamental Science and Frontier Technology Research Project of Chongqing (cstc2017jcyjAX0380, cstc2015jcyjBX0065), The University Outstanding Achievement Transformation Project of Chongqing (KJZH17117), Postgraduate Scientific Research and Innovation Project of Chongqing (CYS17221)

Corresponding Authors: LIU Yiyao E-mail: wonderful_yao@foxmail.com

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	ZHOU Mu
	LIU Yiyao
	YANG Xiaolong
	ZHANG Qiao
	TIAN Zengshan

Cite this article:

ZHOU Mu,LIU Yiyao,YANG Xiaolong等. Indoor Mobility Map Construction and Localization Based on Wi-Fi Simultaneous Localization and Mapping Pixel Template Matching[J]. JEIT, 2018, 40(5): 1050-1058.

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http://jeit.ie.ac.cn/EN/10.11999/JEIT170781 OR http://jeit.ie.ac.cn/EN/Y2018/V40/I5/1050

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