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在实时定位系统中,为了获得较准确的定位,常常需要使用粒子滤波器对测量值中的非高斯噪声进行处理.然而,现存的基于粒子滤波的定位算法大多只是将其用于处理计算出的坐标值,而很少用于处理原始测量值.本文比较分析了粒子滤波器的不同应用层次对定位精度的影响,并采用NanoLOC开发套件和WiFi开发套件进行了定位实验.结果表明,将粒子滤波器应用于原始测量值能获得更好的定位精度.
In real-time location systems, it is often necessary to use particle filters to process non-Gaussian noise in the measurements in order to obtain a more accurate localization, however, most of the existing particle filter based localization algorithms are mostly used to process calculated And rarely used to deal with the original measurement value.This paper comparatively analyzes the impact of different application levels of the particle filter on the positioning accuracy and uses the NanoLOC development kit and the WiFi development kit for the positioning experiment.The results show that the particle filter The application of the device to the original measurement results in better positioning accuracy.