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(GPS)\uff1a\u7edd\u5bf9\u4f4d\u7f6e\u7684\u6743\u5a01\u6765\u6e90<\/h4>\n<p>GPS\u662f\u83b7\u53d6\u8bbe\u5907\u5728\u5168\u7403\u5750\u6807\u7cfb\u4e0b\u7edd\u5bf9\u4f4d\u7f6e\u7684\u6700\u4e3b\u8981\u624b\u6bb5\u3002\u5b83\u662f\u8fd0\u52a8\u8f68\u8ff9\u7684\u57fa\u51c6\uff0c\u4e3a\u6240\u6709\u540e\u7eed\u8ba1\u7b97\u63d0\u4f9b\u4e86\u521d\u59cb\u951a\u70b9\u3002<\/p>\n<h5>GPS\u5de5\u4f5c\u539f\u7406\u7b80\u8ff0<\/h5>\n<p>GPS\u7cfb\u7edf\u7531\u73af\u7ed5\u5730\u7403\u7684\u536b\u661f\u7f51\u7edc\u3001\u5730\u9762\u63a7\u5236\u7ad9\u548c\u7528\u6237\u63a5\u6536\u5668\uff08\u5373\u6211\u4eec\u7684\u624b\u673a\uff09\u4e09\u90e8\u5206\u7ec4\u6210\u3002\u6bcf\u9897\u536b\u661f\u6301\u7eed\u4e0d\u65ad\u5730\u5e7f\u64ad\u5305\u542b\u81ea\u8eab\u7cbe\u786e\u4f4d\u7f6e\u548c\u65f6\u95f4\u6233\u7684\u4fe1\u53f7\u3002\u624b\u673a\u7684GPS\u63a5\u6536\u5668\u81f3\u5c11\u9700\u8981\u63a5\u6536\u5230\u56db\u9897\u536b\u661f\u7684\u4fe1\u53f7\uff0c\u901a\u8fc7\u6bd4\u8f83\u4fe1\u53f7\u7684\u53d1\u5c04\u65f6\u95f4\u4e0e\u63a5\u6536\u65f6\u95f4\u5dee\uff0c\u8ba1\u7b97\u51fa\u624b\u673a\u4e0e\u6bcf\u9897\u536b\u661f\u7684\u8ddd\u79bb\u3002\u6700\u7ec8\uff0c\u57fa\u4e8e\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u4e09\u89d2\u6d4b\u91cf\u6cd5\uff08\u66f4\u51c6\u786e\u5730\u8bf4\u662f\u591a\u8fb9\u6d4b\u91cf\u6cd5\uff09\uff0c\u89e3\u7b97\u51fa\u63a5\u6536\u5668\u7684\u7cbe\u786e\u7ecf\u7eac\u5ea6\u548c\u6d77\u62d4\u9ad8\u5ea6\u3002<\/p>\n<\/p>\n<h5>\u4f18\u52bf\u4e0e\u73b0\u5b9e\u6311\u6218\uff1a\u7cbe\u5ea6\u3001\u529f\u8017\u4e0e\u4fe1\u53f7\u906e\u6321\u95ee\u9898\u5206\u6790<\/h5>\n<p>GPS\u7684\u4f18\u52bf\u5728\u4e8e\u5b83\u80fd\u63d0\u4f9b\u5168\u7403\u8986\u76d6\u7684\u3001\u7edd\u5bf9\u7684\u5730\u7406\u5750\u6807\uff0c\u5176\u6c11\u7528\u7cbe\u5ea6\u901a\u5e38\u57285\u523010\u7c73\u4e4b\u95f4\u3002\u7136\u800c\uff0c\u5b83\u7684\u5c40\u9650\u6027\u4e5f\u540c\u6837\u663e\u8457\u3002\u9996\u5148\uff0cGPS\u4fe1\u53f7\u6781\u6613\u88ab\u5efa\u7b51\u7269\u3001\u96a7\u9053\u3001\u8302\u5bc6\u7684\u6811\u53f6\u7b49\u906e\u6321\uff0c\u5bfc\u81f4\u5728\u5ba4\u5185\u6216\u57ce\u5e02\u201c\u5ce1\u8c37\u201d\u4e2d\u5b9a\u4f4d\u5931\u6548\u6216\u4ea7\u751f\u5de8\u5927\u6f02\u79fb\u3002\u5176\u6b21\uff0cGPS\u6a21\u5757\u662f\u624b\u673a\u4e2d\u7684\u8017\u7535\u5927\u6237\uff0c\u6301\u7eed\u5f00\u542f\u4f1a\u6025\u5267\u6d88\u8017\u7535\u6c60\u7535\u91cf\u3002<\/p>\n<h4>\u60ef\u6027\u6d4b\u91cf\u5355\u5143 (IMU)\uff1a\u611f\u77e5\u8fd0\u52a8\u59ff\u6001\u7684\u201c\u5185\u7f6e\u9640\u87ba\u201d<\/h4>\n<p>IMU\u901a\u5e38\u5305\u542b\u52a0\u901f\u5ea6\u4f20\u611f\u5668\u548c\u9640\u87ba\u4eea\uff0c\u5b83\u8d1f\u8d23\u611f\u77e5\u8bbe\u5907\u81ea\u8eab\u7684\u8fd0\u52a8\u72b6\u6001\uff0c\u662fGPS\u4fe1\u53f7\u5f31\u6216\u4e2d\u65ad\u65f6\u7684\u91cd\u8981\u8865\u5145\u3002<\/p>\n<h5>\u52a0\u901f\u5ea6\u4f20\u611f\u5668\uff1a\u5b83\u5982\u4f55\u6d4b\u91cf\u7ebf\u6027\u8fd0\u52a8\u4e0e\u8bbe\u5907\u671d\u5411\uff1f<\/h5>\n<p>\u52a0\u901f\u5ea6\u4f20\u611f\u5668\u6d4b\u91cf\u7684\u662f\u8bbe\u5907\u5728\u81ea\u8eab\u5750\u6807\u7cfb\u4e0b\u4e09\u4e2a\u8f74\u5411\uff08x, y, z\uff09\u4e0a\u7684\u7ebf\u6027\u52a0\u901f\u5ea6\u3002\u5f53\u624b\u673a\u9759\u6b62\u65f6\uff0c\u5b83\u80fd\u6d4b\u91cf\u5230\u91cd\u529b\u52a0\u901f\u5ea6\uff08\u7ea69.8m\/s\u00b2\uff09\uff0c\u4ece\u800c\u5224\u65ad\u51fa\u8bbe\u5907\u7684\u65b9\u5411\uff08\u54ea\u4e2a\u65b9\u5411\u662f\u201c\u4e0b\u201d\uff09\u3002\u5f53\u624b\u673a\u8fd0\u52a8\u65f6\uff0c\u5b83\u6d4b\u91cf\u7684\u662f\u5305\u62ec\u91cd\u529b\u5728\u5185\u7684\u5408\u529b\u52a0\u901f\u5ea6\uff0c\u901a\u8fc7\u79ef\u5206\u8fd0\u7b97\u53ef\u4ee5\u63a8\u7b97\u51fa\u901f\u5ea6\u548c\u4f4d\u79fb\u7684\u53d8\u5316\u3002\u8ba1\u6b65\u7b97\u6cd5\u7684\u6838\u5fc3\u5c31\u662f\u4f9d\u8d56\u5bf9\u8d70\u8def\u65f6\u52a0\u901f\u5ea6\u5468\u671f\u6027\u53d8\u5316\u7684\u5206\u6790\u3002<\/p>\n<h5>\u9640\u87ba\u4eea\uff1a\u5b83\u5982\u4f55\u6355\u6349\u89d2\u5ea6\u53d8\u5316\u4e0e\u65cb\u8f6c\u72b6\u6001\uff1f<\/h5>\n<p>\u4e0e\u6d4b\u91cf\u7ebf\u6027\u8fd0\u52a8\u7684\u52a0\u901f\u5ea6\u4f20\u611f\u5668\u4e0d\u540c\uff0c\u9640\u87ba\u4eea\u6d4b\u91cf\u7684\u662f\u8bbe\u5907\u56f4\u7ed5\u81ea\u8eab\u4e09\u4e2a\u8f74\u5411\u7684\u89d2\u901f\u5ea6\uff0c\u5373\u65cb\u8f6c\u7684\u5feb\u6162\u548c\u65b9\u5411\u3002\u901a\u8fc7\u5bf9\u89d2\u901f\u5ea6\u8fdb\u884c\u65f6\u95f4\u79ef\u5206\uff0c\u53ef\u4ee5\u7cbe\u786e\u5730\u8ba1\u7b97\u51fa\u8bbe\u5907\u5728\u7a7a\u95f4\u4e2d\u7684\u59ff\u6001\u53d8\u5316\uff0c\u4f8b\u5982\u624b\u673a\u662f\u5411\u5de6\u8f6c\u8fd8\u662f\u5411\u53f3\u8f6c\uff0c\u662f\u62ac\u8d77\u8fd8\u662f\u653e\u4e0b\u3002<\/p>\n<h4>\u8f85\u52a9\u5b9a\u4f4d\u6280\u672f (A-GPS)\uff1a\u5f53GPS\u4fe1\u53f7\u5f31\u65f6\u600e\u4e48\u529e\uff1f<\/h4>\n<p>\u4e3a\u4e86\u5f25\u8865GPS\u7684\u4e0d\u8db3\uff0c\u73b0\u4ee3\u624b\u673a\u666e\u904d\u91c7\u7528\u591a\u79cd\u8f85\u52a9\u5b9a\u4f4d\u6280\u672f\u3002A-GPS\uff08Assisted GPS\uff09\u901a\u8fc7\u79fb\u52a8\u7f51\u7edc\u4e0b\u8f7d\u536b\u661f\u661f\u5386\u6570\u636e\uff0c\u53ef\u4ee5\u5927\u5e45\u7f29\u77edGPS\u7684\u9996\u6b21\u5b9a\u4f4d\u65f6\u95f4\uff08\u51b7\u542f\u52a8\u65f6\u95f4\uff09\u3002\u6b64\u5916\uff0c\u624b\u673a\u8fd8\u4f1a\u626b\u63cf\u5468\u56f4\u7684Wi-Fi\u70ed\u70b9\u548c\u8702\u7a9d\u7f51\u7edc\u57fa\u7ad9\u4fe1\u53f7\u3002\u901a\u8fc7\u67e5\u8be2\u8fd9\u4e9b\u4fe1\u53f7\u6e90\u7684\u4f4d\u7f6e\u6570\u636e\u5e93\uff0c\u5373\u4f7f\u5728\u6ca1\u6709GPS\u4fe1\u53f7\u7684\u5ba4\u5185\uff0c\u4e5f\u80fd\u5b9e\u73b0\u7cbe\u5ea6\u5728\u51e0\u5341\u7c73\u5230\u4e0a\u767e\u7c73\u8303\u56f4\u5185\u7684\u7c97\u7565\u5b9a\u4f4d\u3002\u8fd9\u4e9b\u6280\u672f\u5171\u540c\u6784\u6210\u4e86\u4e00\u4e2a\u591a\u5c42\u6b21\u7684\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u786e\u4fdd\u5728\u4e0d\u540c\u73af\u5883\u4e0b\u90fd\u80fd\u5c3d\u53ef\u80fd\u63d0\u4f9b\u4f4d\u7f6e\u4fe1\u606f\u3002<\/p>\n<h2>\u7b2c\u4e8c\u90e8\u5206\uff1a\u4ece\u539f\u59cb\u6570\u636e\u5230\u5e73\u6ed1\u66f2\u7ebf \u2014\u2014 \u8f68\u8ff9\u5904\u7406\u7684\u6838\u5fc3\u7b97\u6cd5<\/h2>\n<p>\u4ece\u4f20\u611f\u5668\u83b7\u53d6\u7684\u539f\u59cb\u6570\u636e\u662f\u79bb\u6563\u3001\u542b\u566a\u4e14\u4e0d\u7a33\u5b9a\u7684\u3002\u8981\u5c06\u8fd9\u4e9b\u201c\u539f\u6750\u6599\u201d\u52a0\u5de5\u6210\u7528\u6237\u770b\u5230\u7684\u5e73\u6ed1\u8f68\u8ff9\uff0c\u6838\u5fc3\u5728\u4e8e\u5f3a\u5927\u7684\u6570\u636e\u5904\u7406\u7b97\u6cd5\u3002<\/p>\n<h3>\u4e3a\u4ec0\u4e48\u5355\u4e00\u4f20\u611f\u5668\u6570\u636e\u5e76\u4e0d\u53ef\u9760\uff1f<\/h3>\n<p>\u4efb\u4f55\u5355\u4e00\u4f20\u611f\u5668\u90fd\u6709\u5176\u56fa\u6709\u7684\u7f3a\u9677\u3002GPS\u6570\u636e\u4f1a\u56e0\u4e3a\u4fe1\u53f7\u53cd\u5c04\u548c\u5927\u6c14\u5e72\u6270\u800c\u4ea7\u751f\u968f\u673a\u8df3\u70b9\u548c\u6f02\u79fb\u3002\u52a0\u901f\u5ea6\u4f20\u611f\u5668\u548c\u9640\u87ba\u4eea\u7684\u6570\u636e\u5219\u5b58\u5728\u7d2f\u79ef\u8bef\u5dee\u95ee\u9898\uff0c\u5373\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\uff0c\u901a\u8fc7\u79ef\u5206\u8ba1\u7b97\u51fa\u7684\u4f4d\u7f6e\u504f\u5dee\u4f1a\u8d8a\u6765\u8d8a\u5927\uff0c\u8fd9\u5c31\u662f\u6240\u8c13\u7684\u201c\u79ef\u5206\u6f02\u79fb\u201d\u3002\u5355\u7eaf\u4f9d\u8d56\u4efb\u4f55\u4e00\u79cd\u6570\u636e\u6e90\uff0c\u90fd\u65e0\u6cd5\u83b7\u5f97\u7406\u60f3\u7684\u8f68\u8ff9\u3002<\/p>\n<h3>\u4ec0\u4e48\u662f\u4f20\u611f\u5668\u878d\u5408\u7b97\u6cd5\uff1f\uff081+1>2\u7684\u7cfb\u7edf\u5316\u89e3\u51b3\u65b9\u6848\uff09<\/h3>\n<p>\u4f20\u611f\u5668\u878d\u5408\uff08Sensor Fusion\uff09\u662f\u4e00\u79cd\u7cfb\u7edf\u5316\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u5176\u6838\u5fc3\u601d\u60f3\u662f\u53d6\u957f\u8865\u77ed\u3002\u5b83\u5c06\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\uff08\u5982GPS\u3001\u52a0\u901f\u5ea6\u8ba1\u3001\u9640\u87ba\u4eea\u3001\u78c1\u529b\u8ba1\u7b49\uff09\u7684\u6570\u636e\u8fdb\u884c\u667a\u80fd\u5316\u7684\u7ec4\u5408\u4e0e\u52a0\u6743\uff0c\u4ece\u800c\u8f93\u51fa\u4e00\u4e2a\u6bd4\u4efb\u4f55\u5355\u4e00\u6570\u636e\u6e90\u90fd\u66f4\u51c6\u786e\u3001\u66f4\u53ef\u9760\u7684\u7ed3\u679c\u3002<\/p>\n<h4>\u4f20\u611f\u5668\u878d\u5408\u7684\u5fc5\u8981\u6027\u4e0e\u57fa\u672c\u601d\u60f3<\/h4>\n<p>\u878d\u5408\u7684\u5fc5\u8981\u6027\u6e90\u4e8e\u5404\u4f20\u611f\u5668\u7684\u7279\u6027\u4e92\u8865\uff1aGPS\u63d0\u4f9b\u957f\u671f\u51c6\u786e\u7684\u7edd\u5bf9\u4f4d\u7f6e\uff0c\u4f46\u66f4\u65b0\u9891\u7387\u4f4e\u4e14\u6613\u53d7\u73af\u5883\u5f71\u54cd\uff1bIMU\uff08\u52a0\u901f\u5ea6\u8ba1\u548c\u9640\u87ba\u4eea\uff09\u63d0\u4f9b\u9ad8\u9891\u7387\uff08\u901a\u5e38\u572850Hz\u4ee5\u4e0a\uff09\u7684\u77ac\u65f6\u8fd0\u52a8\u59ff\u6001\uff0c\u4f46\u5b58\u5728\u957f\u671f\u6f02\u79fb\u3002\u4f20\u611f\u5668\u878d\u5408\u7b97\u6cd5\u5c31\u50cf\u4e00\u4e2a\u806a\u660e\u7684\u51b3\u7b56\u4e2d\u5fc3\uff0c\u5f53GPS\u4fe1\u53f7\u826f\u597d\u65f6\uff0c\u5b83\u66f4\u591a\u5730\u4fe1\u4efbGPS\u6570\u636e\u6765\u6821\u51c6\u6574\u4f53\u4f4d\u7f6e\uff1b\u5f53GPS\u4fe1\u53f7\u4e22\u5931\u6216\u5f02\u5e38\u65f6\uff0c\u5b83\u5219\u4f9d\u8d56IMU\u7684\u6570\u636e\u8fdb\u884c\u822a\u4f4d\u63a8\u7b97\uff0c\u4ece\u800c\u586b\u8865\u8f68\u8ff9\u7684\u7a7a\u767d\uff0c\u5e76\u6ee4\u9664GPS\u7684\u91ce\u70b9\u3002<\/p>\n<p> \u878d\u5408\u7b97\u6cd5 -> \u7cbe\u51c6\u8f68\u8ff9\u8f93\u51fa \u6d41\u7a0b\u56fe\"><\/p>\n<h3>\u4e24\u5927\u5173\u952e\u7b97\u6cd5\u8be6\u89e3\uff1a\u5982\u4f55\u201c\u51c0\u5316\u201d\u548c\u201c\u9884\u6d4b\u201d\u8f68\u8ff9\uff1f<\/h3>\n<p>\u5728\u4f17\u591a\u4f20\u611f\u5668\u878d\u5408\u6280\u672f\u4e2d\uff0c\u6ee4\u6ce2\u7b97\u6cd5\u548c\u822a\u4f4d\u63a8\u7b97\u662f\u5b9e\u73b0\u9ad8\u8d28\u91cf\u8f68\u8ff9\u8ffd\u8e2a\u7684\u4e24\u4e2a\u6838\u5fc3\u652f\u67f1\u3002<\/p>\n<h4>\u6ee4\u6ce2\u7b97\u6cd5\uff1a\u6ee4\u9664\u6570\u636e\u566a\u58f0\uff0c\u8fd8\u539f\u771f\u5b9e\u8fd0\u52a8<\/h4>\n<p>\u6ee4\u6ce2\u7b97\u6cd5\u7684\u4e3b\u8981\u76ee\u6807\u662f\u4ece\u5145\u6ee1\u566a\u58f0\u7684\u6d4b\u91cf\u6570\u636e\u4e2d\uff0c\u63d0\u53d6\u51fa\u6700\u63a5\u8fd1\u771f\u5b9e\u72b6\u6001\u7684\u4f30\u8ba1\u503c\u3002<\/p>\n<h5>\u5361\u5c14\u66fc\u6ee4\u6ce2 (Kalman Filter)\uff1a\u5728\u4e0d\u786e\u5b9a\u6027\u4e2d\u5bfb\u627e\u6700\u4f18\u4f30\u8ba1<\/h5>\n<p>\u5361\u5c14\u66fc\u6ee4\u6ce2\u662f\u76ee\u524d\u5728\u5bfc\u822a\u548c\u8fd0\u52a8\u8ffd\u8e2a\u9886\u57df\u5e94\u7528\u6700\u5e7f\u6cdb\u7684\u6ee4\u6ce2\u7b97\u6cd5\u4e4b\u4e00\u3002\u5b83\u672c\u8d28\u4e0a\u662f\u4e00\u4e2a\u6700\u4f18\u9012\u5f52\u6570\u636e\u5904\u7406\u7b97\u6cd5\u3002\u5176\u5f3a\u5927\u4e4b\u5904\u5728\u4e8e\uff0c\u5b83\u4e0d\u4ec5\u8003\u8651\u5f53\u524d\u7684\u6d4b\u91cf\u503c\uff0c\u8fd8\u4f1a\u57fa\u4e8e\u4e0a\u4e00\u65f6\u523b\u7684\u72b6\u6001\u548c\u8fd0\u52a8\u6a21\u578b\u6765\u201c\u9884\u6d4b\u201d\u5f53\u524d\u7684\u72b6\u6001\u3002<\/p>\n<p>\u5b83\u7684\u5de5\u4f5c\u6d41\u7a0b\u53ef\u4ee5\u7b80\u5316\u4e3a\u4e24\u4e2a\u5faa\u73af\u4ea4\u66ff\u7684\u9636\u6bb5\uff1a<\/p>\n<ol>\n<li><strong>\u9884\u6d4b\uff08Predict\uff09\uff1a<\/strong> \u57fa\u4e8e\u7cfb\u7edf\u7684\u8fd0\u52a8\u6a21\u578b\uff08\u4f8b\u5982\uff0c\u5047\u8bbe\u7269\u4f53\u5728\u505a\u5300\u901f\u76f4\u7ebf\u8fd0\u52a8\uff09\uff0c\u9884\u6d4b\u51fa\u5f53\u524d\u65f6\u523b\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\u3002\u8fd9\u4e2a\u9884\u6d4b\u672c\u8eab\u5e26\u6709\u4e0d\u786e\u5b9a\u6027\u3002<\/li>\n<li><strong>\u66f4\u65b0\uff08Update\uff09\uff1a<\/strong> \u83b7\u53d6\u65b0\u7684\u4f20\u611f\u5668\u6d4b\u91cf\u503c\uff08\u4f8b\u5982\uff0c\u4e00\u4e2a\u65b0\u7684GPS\u70b9\uff09\u3002\u5361\u5c14\u66fc\u6ee4\u6ce2\u4f1a\u6bd4\u8f83\u201c\u9884\u6d4b\u503c\u201d\u548c\u201c\u6d4b\u91cf\u503c\u201d\uff0c\u5e76\u6839\u636e\u4e24\u8005\u7684\u4e0d\u786e\u5b9a\u6027\uff08\u53ef\u4fe1\u5ea6\uff09\u5927\u5c0f\uff0c\u8ba1\u7b97\u51fa\u4e00\u4e2a\u6700\u4f18\u7684\u201c\u878d\u5408\u503c\u201d\u4f5c\u4e3a\u5f53\u524d\u65f6\u523b\u7684\u6700\u7ec8\u72b6\u6001\u3002\u5982\u679cGPS\u4fe1\u53f7\u5f88\u5f3a\uff08\u4e0d\u786e\u5b9a\u6027\u5c0f\uff09\uff0c\u878d\u5408\u7ed3\u679c\u5c31\u66f4\u504f\u5411GPS\u6d4b\u91cf\u503c\uff1b\u53cd\u4e4b\uff0c\u5219\u66f4\u76f8\u4fe1\u6a21\u578b\u7684\u9884\u6d4b\u503c\u3002<\/li>\n<\/ol>\n<p>\u901a\u8fc7\u8fd9\u6837\u4e0d\u65ad\u7684\u201c\u9884\u6d4b-\u66f4\u65b0\u201d\u5faa\u73af\uff0c\u5361\u5c14\u66fc\u6ee4\u6ce2\u80fd\u591f\u6709\u6548\u5730\u5e73\u6ed1\u8f68\u8ff9\uff0c\u6ee4\u9664\u566a\u58f0\uff0c\u751a\u81f3\u5728GPS\u77ed\u6682\u4e22\u5931\u65f6\u63d0\u4f9b\u76f8\u5bf9\u51c6\u786e\u7684\u8f68\u8ff9\u63a8\u7b97\u3002<\/p>\n<\/p>\n<h5>\u5176\u4ed6\u6ee4\u6ce2\u65b9\u6cd5\u7b80\u4ecb<\/h5>\n<p>\u9664\u4e86\u5361\u5c14\u66fc\u6ee4\u6ce2\uff0c\u8fd8\u6709\u4e00\u4e9b\u5176\u4ed6\u5e38\u7528\u7684\u65b9\u6cd5\u3002\u4f8b\u5982\uff0c**\u4e92\u8865\u6ee4\u6ce2\uff08Complementary Filter\uff09**\u662f\u4e00\u79cd\u8ba1\u7b97\u91cf\u66f4\u5c0f\u3001\u66f4\u6613\u4e8e\u5b9e\u73b0\u7684\u6ee4\u6ce2\u65b9\u6cd5\uff0c\u5b83\u901a\u8fc7\u9ad8\u901a\u6ee4\u6ce2\u5668\u5904\u7406\u9640\u87ba\u4eea\u6570\u636e\uff08\u6ee4\u9664\u957f\u671f\u6f02\u79fb\uff09\uff0c\u901a\u8fc7\u4f4e\u901a\u6ee4\u6ce2\u5668\u5904\u7406\u52a0\u901f\u5ea6\u8ba1\u6570\u636e\uff08\u6ee4\u9664\u77ed\u671f\u566a\u58f0\uff09\uff0c\u7136\u540e\u5c06\u4e24\u8005\u7ed3\u5408\u3002**\u7c92\u5b50\u6ee4\u6ce2\uff08Particle Filter\uff09**\u5219\u66f4\u9002\u7528\u4e8e\u5904\u7406\u975e\u7ebf\u6027\u548c\u975e\u9ad8\u65af\u5206\u5e03\u7684\u590d\u6742\u7cfb\u7edf\uff0c\u4f46\u8ba1\u7b97\u6210\u672c\u4e5f\u66f4\u9ad8\u3002<\/p>\n<h4>\u822a\u4f4d\u63a8\u7b97 (Dead Reckoning) \u4e0e\u8ba1\u6b65\u7b97\u6cd5\uff1a\u65e0\u4fe1\u53f7\u73af\u5883\u4e0b\u7684\u8f68\u8ff9\u63a8\u6f14<\/h4>\n<p>\u822a\u4f4d\u63a8\u7b97\u662f\u5728\u6ca1\u6709\u5916\u90e8\u5b9a\u4f4d\u4fe1\u53f7\uff08\u5982GPS\uff09\u7684\u60c5\u51b5\u4e0b\uff0c\u4ec5\u4f9d\u9760\u5185\u90e8\u4f20\u611f\u5668\uff08IMU\uff09\u6765\u63a8\u7b97\u5f53\u524d\u4f4d\u7f6e\u7684\u6280\u672f\u3002\u5176\u57fa\u672c\u539f\u7406\u662f\uff1a\u4ece\u4e00\u4e2a\u5df2\u77e5\u7684\u8d77\u59cb\u70b9\u5f00\u59cb\uff0c\u901a\u8fc7\u52a0\u901f\u5ea6\u8ba1\u548c\u9640\u87ba\u4eea\u6d4b\u91cf\u51fa\u7684\u8fd0\u52a8\u8ddd\u79bb\u548c\u65b9\u5411\uff0c\u4e00\u6b65\u6b65\u5730\u63a8\u7b97\u51fa\u540e\u7eed\u7684\u4f4d\u7f6e\u3002<\/p>\n<p>\u8ba1\u6b65\u7b97\u6cd5\u662f\u822a\u4f4d\u63a8\u7b97\u5728\u6b65\u884c\u573a\u666f\u4e0b\u7684\u4e00\u4e2a\u7279\u4f8b\u3002\u5b83\u901a\u8fc7\u5206\u6790\u52a0\u901f\u5ea6\u4f20\u611f\u5668\u6570\u636e\u7684\u5468\u671f\u6027\u6ce2\u5cf0\uff0c\u6765\u8bc6\u522b\u7528\u6237\u7684\u6bcf\u4e00\u6b65\u3002\u7ed3\u5408\u9884\u4f30\u7684\u6b65\u957f\uff0c\u5c31\u53ef\u4ee5\u8ba1\u7b97\u51fa\u7528\u6237\u884c\u8d70\u7684\u5927\u81f4\u8ddd\u79bb\u3002\u8ba1\u6b65\u7b97\u6cd5\u662f\u624b\u73af\u3001\u624b\u8868\u7b49\u8bbe\u5907\u5728\u4e0d\u4f9d\u8d56GPS\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u91cc\u7a0b\u7edf\u8ba1\u7684\u6838\u5fc3\u3002<\/p>\n<h2>\u7b2c\u4e09\u90e8\u5206\uff1a\u52a8\u624b\u5b9e\u8df5 \u2014\u2014 \u4e24\u5927\u4e3b\u6d41\u5e73\u53f0\u8fd0\u52a8\u8f68\u8ff9\u5b9e\u73b0\u6307\u5357 (How-To)<\/h2>\n<p>\u7406\u8bba\u6700\u7ec8\u8981\u670d\u52a1\u4e8e\u5b9e\u8df5\u3002\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c06\u5206\u522b\u4ecb\u7ecd\u5982\u4f55\u5728Android\u548ciOS\u5e73\u53f0\u4e0a\u5b9e\u73b0\u8fd0\u52a8\u8f68\u8ff9\u7684\u8bb0\u5f55\u3002<\/p>\n<h3>\u5b9e\u73b0\u524d\u7684\u51c6\u5907\u5de5\u4f5c\uff1a\u6743\u9650\u7ba1\u7406\u3001\u7cfb\u7edf\u914d\u7f6e\u4e0e\u6700\u4f73\u5b9e\u8df5<\/h3>\n<p>\u65e0\u8bba\u662f\u54ea\u4e2a\u5e73\u53f0\uff0c\u83b7\u53d6\u7528\u6237\u4f4d\u7f6e\u90fd\u662f\u4e00\u9879\u654f\u611f\u64cd\u4f5c\u3002\u56e0\u6b64\uff0c\u5728\u7f16\u7801\u4e4b\u524d\uff0c\u5fc5\u987b\u6b63\u786e\u5904\u7406\u6743\u9650\u8bf7\u6c42\u3002\u5e94\u7528\u5fc5\u987b\u5728\u9700\u8981\u65f6\u5411\u7528\u6237\u660e\u786e\u8bf7\u6c42\u5b9a\u4f4d\u6743\u9650\uff0c\u5e76\u6e05\u6670\u5730\u544a\u77e5\u7528\u6237\u4e3a\u4f55\u9700\u8981\u8fd9\u4e9b\u6743\u9650\u3002\u540c\u65f6\uff0c\u5e94\u9075\u5faa\u6700\u5c0f\u6743\u9650\u539f\u5219\uff0c\u53ea\u8bf7\u6c42\u5e94\u7528\u529f\u80fd\u6240\u5fc5\u9700\u7684\u6743\u9650\u7ea7\u522b\uff08\u4f8b\u5982\uff0c\u524d\u53f0\u5b9a\u4f4d\u6216\u540e\u53f0\u5b9a\u4f4d\uff09\u3002<\/p>\n<h3>Android\u5e73\u53f0\u8fd0\u52a8\u8f68\u8ff9\u5b9e\u73b0\u65b9\u6cd5<\/h3>\n<h4>\u6838\u5fc3API\u89e3\u8bfb\uff1a\u4ece<code>LocationManager<\/code>\u5230<code>FusedLocationProviderClient<\/code><\/h4>\n<p>\u65e9\u671f\u7684Android\u5f00\u53d1\u4f7f\u7528<code>LocationManager<\/code>\uff0c\u4f46\u5b83\u9700\u8981\u5f00\u53d1\u8005\u81ea\u884c\u5904\u7406\u4e0d\u540c\u5b9a\u4f4d\u6e90\uff08GPS, Network\uff09\u7684\u9009\u62e9\u548c\u5207\u6362\u3002\u5982\u4eca\uff0cGoogle\u5b98\u65b9\u63a8\u8350\u4f7f\u7528<code>FusedLocationProviderClient<\/code>\uff0c\u5b83\u5c5e\u4e8eGoogle Play\u670d\u52a1\u7684\u4e00\u90e8\u5206\u3002\u8fd9\u4e2aAPI\u7684\u4f18\u52bf\u5728\u4e8e\u5b83\u5728\u5185\u90e8\u5df2\u7ecf\u4e3a\u6211\u4eec\u505a\u597d\u4e86\u4f20\u611f\u5668\u878d\u5408\u4e0e\u529f\u8017\u4f18\u5316\uff0c\u80fd\u4ee5\u66f4\u7b80\u5355\u7684\u65b9\u5f0f\u63d0\u4f9b\u66f4\u7a33\u5b9a\u3001\u66f4\u7cbe\u51c6\u7684\u5b9a\u4f4d\u7ed3\u679c\u3002<\/p>\n<h4>\u6b65\u9aa4\u4e00\uff1a\u914d\u7f6e\u9879\u76ee\u4e0e\u8bf7\u6c42\u5b9a\u4f4d\u6743\u9650<\/h4>\n<p>\u9996\u5148\uff0c\u5728<code>build.gradle<\/code>\u6587\u4ef6\u4e2d\u6dfb\u52a0Google Play\u670d\u52a1\u7684\u4f9d\u8d56\u3002\u7136\u540e\uff0c\u5728<code>AndroidManifest.xml<\/code>\u4e2d\u58f0\u660e\u5b9a\u4f4d\u6743\u9650\uff1a<\/p>\n<pre><code class=\"language-xml\"><!-- \u7cbe\u786e\u4f4d\u7f6e\u6743\u9650 --><uses-permission android:name=\"android.permission.ACCESS_FINE_LOCATION\" \/><!-- \u7c97\u7565\u4f4d\u7f6e\u6743\u9650\uff0c\u9002\u914dAndroid 12+ --><uses-permission android:name=\"android.permission.ACCESS_COARSE_LOCATION\" \/><!-- \u5982\u679c\u9700\u8981\u540e\u53f0\u5b9a\u4f4d\uff0c\u8fd8\u9700\u58f0\u660e\u6b64\u6743\u9650 --><uses-permission android:name=\"android.permission.ACCESS_BACKGROUND_LOCATION\" \/><\/code><\/pre>\n<p>\u5728\u4ee3\u7801\u4e2d\uff0c\u4f60\u9700\u8981\u7f16\u5199\u8fd0\u884c\u65f6\u6743\u9650\u8bf7\u6c42\u7684\u903b\u8f91\uff0c\u786e\u4fdd\u5728\u83b7\u53d6\u4f4d\u7f6e\u524d\u5df2\u7ecf\u83b7\u5f97\u4e86\u7528\u6237\u7684\u6388\u6743\u3002<\/p>\n<h4>\u6b65\u9aa4\u4e8c\uff1a\u521b\u5efa\u5e76\u914d\u7f6e\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u8bf7\u6c42 (<code>LocationRequest<\/code>)<\/h4>\n<p>\u901a\u8fc7<code>LocationRequest<\/code>\u5bf9\u8c61\uff0c\u6211\u4eec\u53ef\u4ee5\u7cbe\u7ec6\u5316\u5730\u63a7\u5236\u5b9a\u4f4d\u7684\u53c2\u6570\uff0c\u5982\u66f4\u65b0\u9891\u7387\u3001\u7cbe\u5ea6\u8981\u6c42\u548c\u529f\u8017\u7ea7\u522b\u3002<\/p>\n<pre><code class=\"language-java\">LocationRequest locationRequest = LocationRequest.create();\/\/ \u8bbe\u7f6e\u671f\u671b\u7684\u66f4\u65b0\u95f4\u9694\uff0c\u4f8b\u5982\u6bcf5\u79d2\u66f4\u65b0\u4e00\u6b21locationRequest.setInterval(5000); \/\/ \u8bbe\u7f6e\u6700\u5feb\u7684\u66f4\u65b0\u95f4\u9694\uff0c\u4e0d\u5141\u8bb8\u5feb\u4e8e3\u79d2locationRequest.setFastestInterval(3000); \/\/ \u8bbe\u7f6e\u5b9a\u4f4d\u7cbe\u5ea6\u4e3a\u9ad8\u7cbe\u5ea6locationRequest.setPriority(LocationRequest.PRIORITY_HIGH_ACCURACY);<\/code><\/pre>\n<h4>\u6b65\u9aa4\u4e09\uff1a\u63a5\u6536\u3001\u89e3\u6790\u5e76\u5b58\u50a8\u4f4d\u7f6e\u66f4\u65b0\u6570\u636e<\/h4>\n<p>\u521b\u5efa<code>FusedLocationProviderClient<\/code>\u5b9e\u4f8b\uff0c\u5e76\u8bf7\u6c42\u4f4d\u7f6e\u66f4\u65b0\u3002\u4f4d\u7f6e\u6570\u636e\u4f1a\u901a\u8fc7<code>LocationCallback<\/code>\u56de\u8c03\u8fd4\u56de\u3002<\/p>\n<pre><code class=\"language-java\">fusedLocationClient.requestLocationUpdates(locationRequest,        new LocationCallback() {            @Override            public void onLocationResult(LocationResult locationResult) {                if (locationResult == null) {                    return;                }                for (Location location : locationResult.getLocations()) {                    \/\/ \u5728\u8fd9\u91cc\u5904\u7406\u83b7\u53d6\u5230\u7684location\u5bf9\u8c61                    double latitude = location.getLatitude(); \/\/ \u7eac\u5ea6                    double longitude = location.getLongitude(); \/\/ \u7ecf\u5ea6                    float accuracy = location.getAccuracy(); \/\/ \u7cbe\u5ea6\uff08\u7c73\uff09                    float speed = location.getSpeed(); \/\/ \u901f\u5ea6\uff08\u7c73\/\u79d2\uff09                    \/\/ \u5c06\u8fd9\u4e9b\u6570\u636e\u70b9\u5b58\u50a8\u8d77\u6765\uff0c\u5f62\u6210\u8f68\u8ff9                }            }        },        Looper.getMainLooper());<\/code><\/pre>\n<h4>\u6b65\u9aa4\u56db\uff1a\u7ed3\u5408<code>SensorManager<\/code>\u83b7\u53d6\u52a0\u901f\u5ea6\u8ba1\u4e0e\u9640\u87ba\u4eea\u6570\u636e<\/h4>\n<p>\u5982\u679c\u9700\u8981\u66f4\u9ad8\u9891\u7387\u7684\u59ff\u6001\u6570\u636e\u6216\u8fdb\u884c\u66f4\u5e95\u5c42\u7684\u4f20\u611f\u5668\u878d\u5408\uff0c\u53ef\u4ee5\u901a\u8fc7<code>SensorManager<\/code>\u6765\u6ce8\u518c<code>SensorEventListener<\/code>\uff0c\u4ee5\u83b7\u53d6\u52a0\u901f\u5ea6\u8ba1\u548c\u9640\u87ba\u4eea\u7684\u539f\u59cb\u6570\u636e\u3002<\/p>\n<h3>iOS\u5e73\u53f0\u8fd0\u52a8\u8f68\u8ff9\u5b9e\u73b0\u65b9\u6cd5<\/h3>\n<h4>\u6838\u5fc3\u6846\u67b6\u89e3\u8bfb\uff1aCore Location \u4e0e Core Motion<\/h4>\n<p>iOS\u5e73\u53f0\u5c06\u5b9a\u4f4d\u548c\u8fd0\u52a8\u76f8\u5173\u7684\u670d\u52a1\u5206\u522b\u5c01\u88c5\u5728<code>Core Location<\/code>\u548c<code>Core Motion<\/code>\u4e24\u4e2a\u6838\u5fc3\u6846\u67b6\u4e2d\u3002<code>Core Location<\/code>\u8d1f\u8d23\u5904\u7406\u6240\u6709\u4e0e\u5730\u7406\u4f4d\u7f6e\u76f8\u5173\u7684\u529f\u80fd\uff0c\u800c<code>Core Motion<\/code>\u5219\u63d0\u4f9b\u5bf9\u52a0\u901f\u5ea6\u8ba1\u3001\u9640\u87ba\u4eea\u7b49\u8bbe\u5907\u8fd0\u52a8\u4f20\u611f\u5668\u7684\u8bbf\u95ee\u3002<\/p>\n<h4>\u6b65\u9aa4\u4e00\uff1a\u914d\u7f6e<code>Info.plist<\/code>\u5e76\u5411\u7528\u6237\u8bf7\u6c42\u6388\u6743<\/h4>\n<p>\u5728<code>Info.plist<\/code>\u6587\u4ef6\u4e2d\u6dfb\u52a0\u76f8\u5e94\u7684\u952e\u503c\u5bf9\uff0c\u5411\u7528\u6237\u8bf4\u660e\u8bf7\u6c42\u5b9a\u4f4d\u6743\u9650\u7684\u76ee\u7684\u3002\u8fd9\u662f\u5e94\u7528\u4e0a\u67b6\u7684\u5f3a\u5236\u8981\u6c42\u3002<\/p>\n<pre><code class=\"language-xml\"><key>NSLocationWhenInUseUsageDescription<\/key><string>\u6211\u4eec\u9700\u8981\u83b7\u53d6\u60a8\u7684\u4f4d\u7f6e\u6765\u8bb0\u5f55\u60a8\u7684\u8fd0\u52a8\u8f68\u8ff9\u3002<\/string><key>NSLocationAlwaysAndWhenInUseUsageDescription<\/key><string>\u6211\u4eec\u9700\u8981\u5728\u540e\u53f0\u83b7\u53d6\u60a8\u7684\u4f4d\u7f6e\uff0c\u4ee5\u4fbf\u5728\u60a8\u9501\u5c4f\u65f6\u4e5f\u80fd\u6301\u7eed\u8bb0\u5f55\u8fd0\u52a8\u8f68\u8ff9\u3002<\/string><\/code><\/pre>\n<p>\u5728\u4ee3\u7801\u4e2d\uff0c\u8c03\u7528<code>CLLocationManager<\/code>\u5b9e\u4f8b\u7684<code>requestWhenInUseAuthorization()<\/code>\u6216<code>requestAlwaysAuthorization()<\/code>\u65b9\u6cd5\u6765\u89e6\u53d1\u6388\u6743\u5f39\u7a97\u3002<\/p>\n<h4>\u6b65\u9aa4\u4e8c\uff1a\u521d\u59cb\u5316\u5e76\u7cbe\u7ec6\u5316\u914d\u7f6e<code>CLLocationManager<\/code><\/h4>\n<p><code>CLLocationManager<\/code>\u662f<code>Core Location<\/code>\u7684\u6838\u5fc3\u7c7b\u3002\u901a\u8fc7\u914d\u7f6e\u5b83\u7684\u5c5e\u6027\uff0c\u53ef\u4ee5\u63a7\u5236\u5b9a\u4f4d\u7684\u7cbe\u5ea6\u3001\u6d3b\u52a8\u7c7b\u578b\u7b49\u3002<\/p>\n<pre><code class=\"language-swift\">let locationManager = CLLocationManager()locationManager.delegate = self\/\/ \u8bbe\u7f6e\u671f\u671b\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u4e3a\u6700\u4f73locationManager.desiredAccuracy = kCLLocationAccuracyBestForNavigation\/\/ \u8bbe\u7f6e\u6d3b\u52a8\u7c7b\u578b\uff0c\u7cfb\u7edf\u4f1a\u636e\u6b64\u8fdb\u884c\u529f\u8017\u4f18\u5316locationManager.activityType = .fitness \/\/ \u5141\u8bb8\u540e\u53f0\u4f4d\u7f6e\u66f4\u65b0locationManager.allowsBackgroundLocationUpdates = true \/\/ \u5f00\u59cb\u66f4\u65b0\u4f4d\u7f6elocationManager.startUpdatingLocation()<\/code><\/pre>\n<h4>\u6b65\u9aa4\u4e09\uff1a\u901a\u8fc7\u4ee3\u7406\u65b9\u6cd5\u5904\u7406\u4f4d\u7f6e\u4e0e\u65b9\u5411\u66f4\u65b0<\/h4>\n<p>\u6240\u6709\u7684\u4f4d\u7f6e\u548c\u65b9\u5411\u4fe1\u606f\u90fd\u4f1a\u901a\u8fc7<code>CLLocationManagerDelegate<\/code>\u534f\u8bae\u4e2d\u7684\u4ee3\u7406\u65b9\u6cd5\u8fd4\u56de\u3002<\/p>\n<pre><code class=\"language-swift\">extension YourViewController: CLLocationManagerDelegate {    func locationManager(_ manager: CLLocationManager, didUpdateLocations locations: [CLLocation]) {        guard let latestLocation = locations.first else { return }        \/\/ \u5728\u8fd9\u91cc\u5904\u7406\u83b7\u53d6\u5230\u7684CLLocation\u5bf9\u8c61        let latitude = latestLocation.coordinate.latitude        let longitude = latestLocation.coordinate.longitude        let accuracy = latestLocation.horizontalAccuracy        let speed = latestLocation.speed        \/\/ \u5c06\u6570\u636e\u70b9\u6dfb\u52a0\u5230\u8f68\u8ff9\u6570\u7ec4\u4e2d    }}<\/code><\/pre>\n<h4>\u6b65\u9aa4\u56db\uff1a\u901a\u8fc7<code>CMMotionManager<\/code>\u83b7\u53d6\u8bbe\u5907\u8fd0\u52a8\u6570\u636e<\/h4>\n<p>\u4e0eAndroid\u7c7b\u4f3c\uff0c\u5982\u679c\u9700\u8981\u8bbf\u95eeIMU\u6570\u636e\uff0c\u53ef\u4ee5\u4f7f\u7528<code>Core Motion<\/code>\u6846\u67b6\u4e2d\u7684<code>CMMotionManager<\/code>\u7c7b\u6765\u83b7\u53d6\u8bbe\u5907\u7684\u52a0\u901f\u5ea6\u3001\u65cb\u8f6c\u901f\u7387\u7b49\u539f\u59cb\u8fd0\u52a8\u6570\u636e\u3002<\/p>\n<h2>\u7b2c\u56db\u90e8\u5206\uff1a\u8fdb\u9636\u4f18\u5316 \u2014\u2014 \u5982\u4f55\u63d0\u5347\u8fd0\u52a8\u8f68\u8ff9\u7684\u7cbe\u5ea6\u4e0e\u6027\u80fd\uff1f<\/h2>\n<p>\u5b9e\u73b0\u57fa\u672c\u7684\u8f68\u8ff9\u8bb0\u5f55\u53ea\u662f\u7b2c\u4e00\u6b65\u3002\u5728\u771f\u5b9e\u590d\u6742\u7684\u5e94\u7528\u573a\u666f\u4e2d\uff0c\u5f00\u53d1\u8005\u8fd8\u9700\u8981\u9762\u5bf9\u529f\u8017\u3001\u7cbe\u5ea6\u548c\u6570\u636e\u5904\u7406\u7b49\u4e00\u7cfb\u5217\u8fdb\u9636\u6311\u6218\u3002<\/p>\n<h3>\u5173\u952e\u6311\u6218\u4e00\uff1a\u529f\u8017\u4f18\u5316<\/h3>\n<h4>\u5982\u4f55\u5728\u4e0d\u727a\u7272\u8fc7\u591a\u7cbe\u5ea6\u7684\u60c5\u51b5\u4e0b\u5927\u5e45\u8282\u7701\u7535\u91cf\uff1f<\/h4>\n<p>\u6301\u7eed\u4f7f\u7528\u9ad8\u7cbe\u5ea6GPS\u662f\u8017\u7535\u7684\u4e3b\u8981\u539f\u56e0\u3002\u4f18\u5316\u7684\u6838\u5fc3\u601d\u60f3\u662f\u201c\u6309\u9700\u7d22\u53d6\u201d\u3002<\/p>\n<ul>\n<li><strong>\u667a\u80fd\u8c03\u6574\u66f4\u65b0\u9891\u7387\uff1a<\/strong> \u5728\u7528\u6237\u9ad8\u901f\u79fb\u52a8\uff08\u5982\u9a7e\u8f66\uff09\u65f6\uff0c\u4f7f\u7528\u8f83\u9ad8\u7684\u66f4\u65b0\u9891\u7387\uff1b\u5728\u4f4e\u901f\u79fb\u52a8\uff08\u5982\u6b65\u884c\uff09\u6216\u9759\u6b62\u65f6\uff0c\u5219\u964d\u4f4e\u9891\u7387\u751a\u81f3\u6682\u505c\u66f4\u65b0\u3002<\/li>\n<li><strong>\u5584\u7528\u4f4e\u529f\u8017\u5b9a\u4f4d\u6a21\u5f0f\uff1a<\/strong> Android\u7684<code>PRIORITY_BALANCED_POWER_ACCURACY<\/code>\u548ciOS\u7684<code>kCLLocationAccuracyHundredMeters<\/code>\u7b49\u6a21\u5f0f\uff0c\u4f1a\u66f4\u591a\u5730\u4f9d\u8d56Wi-Fi\u548c\u8702\u7a9d\u7f51\u7edc\uff0c\u80fd\u663e\u8457\u964d\u4f4e\u529f\u8017\u3002<\/li>\n<li><strong>\u5229\u7528\u6d3b\u52a8\u8bc6\u522bAPI\uff1a<\/strong> \u4e24\u5927\u5e73\u53f0\u90fd\u63d0\u4f9b\u4e86\u6d3b\u52a8\u8bc6\u522bAPI\uff08\u5982Android\u7684<code>ActivityRecognitionClient<\/code>\uff09\uff0c\u53ef\u4ee5\u5224\u65ad\u7528\u6237\u5f53\u524d\u662f\u9759\u6b62\u3001\u6b65\u884c\u3001\u9a91\u884c\u8fd8\u662f\u9a7e\u8f66\uff0c\u4ece\u800c\u52a8\u6001\u5730\u9009\u62e9\u6700\u5408\u9002\u7684\u5b9a\u4f4d\u7b56\u7565\u3002<\/li>\n<\/ul>\n<h3>\u5173\u952e\u6311\u6218\u4e8c\uff1a\u7cbe\u5ea6\u63d0\u5347<\/h3>\n<h4>\u57ce\u5e02\u201c\u5ce1\u8c37\u6548\u5e94\u201d\u4e0eGPS\u6f02\u79fb\u7684\u5e94\u5bf9\u7b56\u7565<\/h4>\n<p>\u5728\u6469\u5929\u5927\u697c\u6797\u7acb\u7684\u57ce\u5e02\u4e2d\u5fc3\uff0cGPS\u4fe1\u53f7\u4f1a\u7ecf\u8fc7\u591a\u6b21\u53cd\u5c04\u624d\u5230\u8fbe\u624b\u673a\uff0c\u5bfc\u81f4\u5b9a\u4f4d\u70b9\u4e25\u91cd\u504f\u79bb\u771f\u5b9e\u4f4d\u7f6e\uff0c\u8fd9\u5c31\u662f\u201c\u5ce1\u8c37\u6548\u5e94\u201d\u3002<\/p>\n<ul>\n<li><strong>\u7cbe\u5ea6\u8fc7\u6ee4\uff1a<\/strong> \u4e22\u5f03\u6389<code>accuracy<\/code>\u503c\u8fc7\u5927\u7684\u5b9a\u4f4d\u70b9\uff08\u4f8b\u5982\uff0c\u7cbe\u5ea6\u5dee\u4e8e50\u7c73\u7684\u70b9\uff09\u3002<\/li>\n<li><strong>\u901f\u5ea6\u4e0e\u65b9\u5411\u7ea6\u675f\uff1a<\/strong> \u7ed3\u5408IMU\u6570\u636e\uff0c\u5982\u679c\u4e00\u4e2aGPS\u70b9\u610f\u5473\u7740\u53d1\u751f\u4e86\u7269\u7406\u4e0a\u4e0d\u53ef\u80fd\u7684\u901f\u5ea6\u6216\u65b9\u5411\u7a81\u53d8\uff0c\u90a3\u4e48\u8fd9\u4e2a\u70b9\u5f88\u53ef\u80fd\u662f\u5f02\u5e38\u70b9\uff0c\u5e94\u4e88\u4ee5\u5254\u9664\u6216\u5e73\u6ed1\u5904\u7406\u3002<\/li>\n<\/ul>\n<h4>\u5730\u56fe\u5339\u914d (Map Matching)\uff1a\u5c06\u8f68\u8ff9\u201c\u5438\u9644\u201d\u5230\u771f\u5b9e\u9053\u8def\u7f51\u7edc\u4e0a<\/h4>\n<p>\u5bf9\u4e8e\u9a7e\u8f66\u6216\u9a91\u884c\u573a\u666f\uff0c\u4e00\u4e2a\u975e\u5e38\u6709\u6548\u7684\u7cbe\u5ea6\u63d0\u5347\u624b\u6bb5\u662f\u5730\u56fe\u5339\u914d\u3002\u8be5\u7b97\u6cd5\u4f1a\u5c06\u91c7\u96c6\u5230\u7684GPS\u8f68\u8ff9\u70b9\uff0c\u4e0e\u6570\u5b57\u5730\u56fe\u4e0a\u7684\u9053\u8def\u7f51\u7edc\u8fdb\u884c\u5339\u914d\uff0c\u5c06\u504f\u79bb\u9053\u8def\u7684\u70b9\u201c\u62c9\u56de\u201d\u5230\u6700\u53ef\u80fd\u7684\u9053\u8def\u4e0a\u3002\u8fd9\u4e0d\u4ec5\u80fd\u4fee\u6b63GPS\u6f02\u79fb\uff0c\u8fd8\u80fd\u4f7f\u8f68\u8ff9\u770b\u8d77\u6765\u66f4\u52a0\u5408\u7406\u3001\u7f8e\u89c2\u3002<\/p>\n<h3>\u5173\u952e\u6311\u6218\u4e09\uff1a\u6570\u636e\u5b58\u50a8\u4e0e\u53ef\u89c6\u5316<\/h3>\n<h4>\u8f68\u8ff9\u6570\u636e\u7684\u672c\u5730\u5b58\u50a8\u4e0e\u5e73\u6ed1\u7b97\u6cd5<\/h4>\n<p>\u8bb0\u5f55\u4e0b\u7684\u8f68\u8ff9\u70b9\u6570\u91cf\u53ef\u80fd\u975e\u5e38\u5e9e\u5927\uff0c\u76f4\u63a5\u5b58\u50a8\u548c\u7ed8\u5236\u4f1a\u6d88\u8017\u5927\u91cf\u8d44\u6e90\u3002<\/p>\n<ul>\n<li><strong>\u8f68\u8ff9\u62bd\u7a00\uff1a<\/strong> \u4f7f\u7528\u9053\u683c\u62c9\u65af-\u666e\u514b\uff08Douglas-Peucker\uff09\u7b49\u7b97\u6cd5\uff0c\u53ef\u4ee5\u5728\u57fa\u672c\u4e0d\u6539\u53d8\u8f68\u8ff9\u5f62\u72b6\u7684\u524d\u63d0\u4e0b\uff0c\u5927\u5e45\u51cf\u5c11\u6570\u636e\u70b9\u7684\u6570\u91cf\uff0c\u4ece\u800c\u964d\u4f4e\u5b58\u50a8\u548c\u4f20\u8f93\u7684\u538b\u529b\u3002<\/li>\n<li><strong>\u672c\u5730\u5b58\u50a8\uff1a<\/strong> \u4f7f\u7528SQLite\u3001Realm\u7b49\u672c\u5730\u6570\u636e\u5e93\u6765\u9ad8\u6548\u5730\u5b58\u50a8\u548c\u67e5\u8be2\u8f68\u8ff9\u6570\u636e\u3002<\/li>\n<\/ul>\n<h4>\u5982\u4f55\u5728\u5730\u56fe\u4e0a\u9ad8\u6548\u7ed8\u5236\u5e73\u6ed1\u7684\u8fd0\u52a8\u8f68\u8ff9\u7ebf\uff1f<\/h4>\n<p>\u5728\u5730\u56fe\u4e0a\u7ed8\u5236\u8f68\u8ff9\u65f6\uff0c\u4e3a\u4e86\u89c6\u89c9\u6548\u679c\uff0c\u901a\u5e38\u9700\u8981\u5bf9\u62bd\u7a00\u540e\u7684\u6298\u7ebf\u8fdb\u884c\u5e73\u6ed1\u5904\u7406\u3002\u53ef\u4ee5\u4f7f\u7528\u8d1d\u585e\u5c14\u66f2\u7ebf\u6216\u6837\u6761\u63d2\u503c\u7b49\u7b97\u6cd5\u6765\u751f\u6210\u5e73\u6ed1\u7684\u66f2\u7ebf\uff0c\u4ece\u800c\u63d0\u4f9b\u66f4\u597d\u7684\u89c6\u89c9\u4f53\u9a8c\u3002<\/p>\n<h2>\u5e38\u89c1\u95ee\u9898\u89e3\u7b54 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