融合三边测量和PDR的室内定位关键技术分析及应用

随着无线室内定位技术的发展，室内定位效果有了明显提升，但仅采用无线定位方法，定位点跳动频繁，定位效果较差，难以获取连续位置的准确定位。实际应用中不同的硬件平台也会影响具体定位方法的选择，通常需采用多种技术手段的组合以达到理想定位效果。本文基于微信公众平台的服务需要，提出了一种基于三边测量定位和步行者航位推算（PDR）融合的室内定位方法，通过地图信息匹配纠正定位结果，得到连续稳定的定位结果；并集成室内地图可视化技术，研发了一套基于微信平台的三维室内定位系统，在实际工程场景中进行应用，具有较好的定位效果。

Indoor positioning system based on trilateration and PDR fusion

The indoor positioning has been improved significantly with the development of wireless indoor positioning technology. However, it is difficult to obtain continuous positions only using a wireless positioning method, which makes the positioning point jitter without good user experience. Practical applications require a variety of technical tools. Different hardware platforms will affect the specific combination. In this paper, we propose a method fusing the trilateration and PDR, and using map matching to correct results in order to get continuous and stable positioning results based on the WeChat platform. Then, we use indoor map visualization technology to visualize the components of the indoor positioning system. Finally, an indoor positioning system based on the WeChat platform is developed. The system has already been applied in the actual scene and has good positioning results.