摘要
为解决惯性导航长时间误差漂移、步行者轨迹推算精度低的缺点,提出了一种基于人体脚部运动特征的零速检测算法。通过步态分析和极大似然估计将行人运动分为静止和运动两个阶段,只在运动阶段进行惯性导航确定步长,为减小误差随时间的漂移,静止阶段进行传感器误差修正,将步长信息连续推算,即可实现惯性导航定位。基于提出的零速检测算法模型,搭建以惯性测量单元为核心的实验平台,进行了3组实验。实验结果表明:基于惯性导航的零速检测算法检测零速区间的误差为0,单步步长误差为2. 7%,结合零速修正连续推算误差为1. 6%,验证了该方法的有效性。
Aiming at problems that inertial navigation error is drifting with time and the precision of pedestrian trajectory estimation is low,a zero velocity detection algorithm based on human foot movement characteristics is proposed. Through gait analysis and the maximum likelihood estimation,pedestrian motion is divided into two stages: static and movement. The step size is determined by inertial navigation only in the movement stage. In order to reduce the drift of the error with time,the sensor error is corrected in the static stage,and the step size information is deduced continuously,so that the*inertial navigation and positioning can be realized. Based on the proposed zero velocity detection algorithm model,construct experimental platform which uses inertial measurement element as core,and three groups of experiments are carried out. Experimental result shows that the detecting error of zero velocity detection algorithm based on inertial navigation is zero,step length error of single step is 2. 7 %,combined with zero velocity update( ZUPT),continous dead reckoning error is 1. 6 %,which verify the method is effective.
引文
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