A Multi-information Fusion Positioning Method Based on GPS/BDS/visual/WLAN/barometric

Lai Qifeng, Wei Dongyan, Zhang Xiaoguang

Peer Reviewed

Abstract:	The performance of GNSS (Global Navigation Satellite System), which has been widely used, is degraded significantly in complex city environment by the high buildings, shade, and urban canyon. To solve this problem, a multi-information fusion positioning method was proposed for combing GPS/BDS, the visual, WLAN (Wireless Local Area Networks), and barometric sensors. Each source mentioned above has its own advantages and disadvantages: GPS (Global Positioning System) and BDS (Beidou navigation satellite System) -based positioning performs well in the open environment. Generally, the differential GPS/BDS can achieve a sub-meter positioning. However, the positioning accuracy may be dramatically degraded in the urban canyons, and the GNSS cannot be used in the indoor environments. WLAN signals can cover outdoor and indoor environments, including urban canyons, however the WLAN positioning system can only provide the horizontal location information, and its accuracy is relatively low, i.e. 3 to 10 meters. Vision-aided positioning system based on cooperative target has centimeter accuracy, but the positioning results can only be used in some special areas with positioning camera, and their duration is very short. Barometric only provides one-dimensional information of height. Since the aforementioned sources are complementary with each other, the fusion system can achieve continuous, real-time, high-precision positioning under the urban environment by combining them together. The proposed multi-information fusion positioning method can add a new sensor, whose process noise Q and measurement noise R is not sure, into the fusion system smoothly, and performance better than any sensor alone. The method is tested in a test bed in Beijing north, China, the positioning sensors include GPS/BDS, visual, WLAN, and barometric. the result shows that the method can basically estimate the correct measurement noise R, and the fusion result is better than any kind of single-source localization method. The positioning accurate of GPS/BD + barometer is 1.46m(1?), and the positioning accurate of WLAN + barometer is 14.1m(1?), fusion result is 1.26m(1?). The improvement is about 11.5% compared to GPS/BD + barometer positioning results, many times compared to WLAN positioning results.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	2527 - 2536
Cite this article:	Qifeng, Lai, Dongyan, Wei, Xiaoguang, Zhang, "A Multi-information Fusion Positioning Method Based on GPS/BDS/visual/WLAN/barometric," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 2527-2536.
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