Personnel Localization of Real-Time Kinematic Based on Pedestrian Heading Projection Compensation in Substation Signal Interference Environment

To address the intermittent positioning and drift of personnel RTK in high-frequency signal interference environment substations, we propose to use IMU as compensation module adopt joint RTK/PDR method solve results. The heading angle is easily scattered pedestrian projection (PDR) process angles calculated from output data gyroscope, accelerometer magnetometer after denoising are input into complementary filter for fusion. improve accuracy step estimation PDR process, an improved model used. For fusion, extended Kalman (EKF) used, which helps achieve outdoor full-scene high-accuracy positioning. final simulation results show that can be effectively compensated by under signals, reaches 0.02 m.