An Indoor and Outdoor Multi-Source Elastic Fusion Navigation and Positioning Algorithm Based on Particle Filters

Abstract

In terms of indoor and outdoor positioning, in recent years, researchers at home and abroad have proposed some multisource integrated navigation and positioning methods, but these methods are navigation and positioning methods for a single scene. When it comes to the switching of indoor and outdoor complex scenes, these methods will cause the results of position with a marked jump and affect the accuracy of navigation and positioning. Aiming at the navigation and positioning problem in the case of indoor and outdoor complex scene switching, this paper proposes a multisource elastic navigation and positioning method based on particle filters, which makes full use of the redundant information of multisource sensors, constructs an elastic multisource fusion navigation and positioning model after eliminating abnormal data, elastically gives different particle weights to multisource sensors according to environmental changes and realizes the elastic fusion and positioning of multisource sensors through filtering. The test results show that this method has high navigation and positioning accuracy, the dynamic positioning accuracy is better than 0.7 m and there will be no jumping of positioning results in the process of scene switching, which improves the navigation and positioning accuracy and stability in complex and changeable indoor and outdoor environments.

Keywords

• indoor and outdoor positioning
• elastic PNT
• multisource fusion
• particle filter