摘要
惯性导航系统是目前室内定位和导航领域一项非常重要的技术,但是传统惯性导航系统中是利用算法融合地磁罗盘及陀螺仪等数据,进而提高相对位置的精度,但却无法修正已经产生的误差.所以传统惯性导航系统在内部构造复杂的室内很容易出现走错房间,穿越墙体等错误路径.为了解决这些问题,提出一种基于维特比算法的室内导航方法,利用自建室内地磁数字地图结合维特比算法,动态计算可能路径.利用维特比算法特性提高了输出路径的纠错能力,可有效排除错误路径的干扰.本导航方法能有效避免穿墙错误路径的出现,更加符合实际行走路径.试验结果表明,相对传统惯性导航系统,它在复杂室内环境下进入正确房间的准确率提高了23%.
The inertial navigation system is the most important technology of indoor navigation and positioning.The traditional inertial navigation system that uses the algorithm merge magnetic compass,gyroscopes and other data to improve the accuracy of a relative position can not correct the errors.Therefore,in a complex internal structure,it is easy to walk into a wrong room,walk through a wall and so on.In order to solve these problems,a kind of interior navigation method based on the Viterbi algorithm by using the self-built indoor digital maps to dynamically calculate possible paths was proposed.The Viterbi algorithm could improve the error correction capability and could effectively eliminate interferences caused by wrong paths.This navigation method could effectively avoid wrong paths through the wall appearing.Compared with the conventional inertial navigation system,the accuracy of the walk in correct rooms in complex indoor environments increased by 23%.
引文
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