基于足部安装MIMU的行人导航系统设计
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摘要
针对无卫星环境中行人导航定位需求,设计了一种基于足部安装MIMU的行人导航系统,重点研究了行人导航鞋传感器选型及样机设计流程;并在此基础上设计了基于零速修正和航向修正的行人导航算法,研究了零速区间内最优航向角的提取方法,实现了对瞬时磁干扰产生的磁航向角的有效判断。最后,利用设计的行人导航系统开展了三维空间航迹测试实验,实验结果表明,在不增加高度约束的条件下,该行人导航系统定位精度为0.33%,能够满足坡路环境中行人的定位需求。
To meet the demand of navigation in GNSS denied environment,apedestrian navigation system based on foot-mounted MIMU was designed.Two key problems were studied,including the choosing of inertial sensors as well as the design process of the prototype.A pedestrian navigation algorithm was designed based on zero velocity update and azimuth correction.An optimal azimuth angle calculation method within the zero-velocity interval was proposed,which was capable of effectively evaluating the instantaneous disturbed magnetic azimuth angle.At last,a 3-Dementional space positioning experiment was carried out using the previous designed navigation system.Experiment results have shown that the pedestrian navigation system designed can reach a positioning accuracy of 0.33% without altitude restrain,and thus can meet the positioning requirement of pedestrian in slope environment.
To meet the demand of navigation in GNSS denied environment,apedestrian navigation system based on foot-mounted MIMU was designed.Two key problems were studied,including the choosing of inertial sensors as well as the design process of the prototype.A pedestrian navigation algorithm was designed based on zero velocity update and azimuth correction.An optimal azimuth angle calculation method within the zero-velocity interval was proposed,which was capable of effectively evaluating the instantaneous disturbed magnetic azimuth angle.At last,a 3-Dementional space positioning experiment was carried out using the previous designed navigation system.Experiment results have shown that the pedestrian navigation system designed can reach a positioning accuracy of 0.33% without altitude restrain,and thus can meet the positioning requirement of pedestrian in slope environment.
引文
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[3]Tian X,Chen J,Han Y,et al.A novel zero velocity interval detection algorithm for self-contained pedestrian navigation system with inertial sensors[J].Sensors 2016,16(10):1578.
[4]张金亮,秦永元,梅春波.基于MEMS惯性技术的鞋式个人导航系统[J].中国惯性技术学报,2011,19(3):253-256.
[5]Yun X,Calusdian J,Bachmann E R,et al.Estimation of human foot motion during normal walking using inertial and magnetic sensor measurements[J].IEEE Transactions on Instrumentation and Measurement,2012,61(7):2059-2072.
[6]Bebek,Suster M A,Rajgopal S,et al.Personal navigation via high-resolution gait-corrected inertial measurement units[J].IEEE Transactions on Instrumentation and Measurement,2010,59(11):3018-3027.
[7]Woodman O.Pedestrian localisation for indoor environments[D].St Catharines College,Digital Technology Group Computer Laboratory University of Cambridge,2010:68-75.
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[10]Liu J,Chen R,Pei L,et al.A hybrid smartphone indoor positioning solution for mobile LBS[J].Sensors,2012,12(12):17208-17233.
[11]李若涵,张金艺,徐德政,等.运动分类步频调节的微机电惯性测量单元室内行人航迹推算[J].上海大学学报:自然科学版,2014,20(5):612-623.
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[13]Ladetto Q,Gabaglio V,Van Seeters J.Pedestrian navigation method and apparatus operative in a dead reckoning mode:U.S.Patent 6826477[P].2004-11-30.
[14]Stirling R,Collin J,Fyfe K,et al.An innovative shoe-mounted pedestrian navigation system[C]//Proceedings of European Navigation Conference GNSS.2003:110-5.
[15]Fang L,Antsaklis P J,Montestruque L A,et al.Design of a wireless assisted pedestrian dead reckoning system-the NavMote experience[J].IEEE Transactions on Instrumentation and Measurement,2005,54(6):2342-2358.