基于MEMS传感器的双轨迹融合导航系统
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摘要
为解决自主式行人导航时各种误差随着时间不断累积,系统长期精度差的问题,提出了一种基于MEMS传感器的双轨迹融合导航系统.通过行人左、右脚各绑定一套MEMS传感器,根据零速检测方法检测出零速状态,再利用卡尔曼滤波进行零速修正,最后结合行人左右脚最大分离距离作为约束条件,实现双轨迹融合.实验表明,利用所提出的导航系统方案提高了整体导航性能,位置误差比未融合时降低了65%.
In order to solve the problem that various errors are accumulated over time and the long-term accuracy of the system is poor,a dual-track fusion navigation system based on MEMS sensor is proposed to solve the problem of autonomous pedestrian inertial navigation.The zero-speed state is detected according to the zero-velocity detection method,and the zero-velocity updates(ZUPT)correction is carried out by using the Kalman filter.Finally,the maximum separation distance of the pedestrian left and right foot is taken as the constraint condition to realize the double trajectory Fusion.Experiments show that the overall navigation performance is improved by using the proposed navigation system scheme,and the position error is reduced by 65% compared with when not being integrated.
In order to solve the problem that various errors are accumulated over time and the long-term accuracy of the system is poor,a dual-track fusion navigation system based on MEMS sensor is proposed to solve the problem of autonomous pedestrian inertial navigation.The zero-speed state is detected according to the zero-velocity detection method,and the zero-velocity updates(ZUPT)correction is carried out by using the Kalman filter.Finally,the maximum separation distance of the pedestrian left and right foot is taken as the constraint condition to realize the double trajectory Fusion.Experiments show that the overall navigation performance is improved by using the proposed navigation system scheme,and the position error is reduced by 65% compared with when not being integrated.
引文
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[2]陈剑,孙金海,李金海,等.惯性系统中加速度计标定方法研究[J].微电子学与计算机,2012,29(8):130-133.
[3]王立兵,杨松普,罗巍,等.足部安装MEMS-IMU个人导航系统[J].中国惯性技术学报,2016,29(4):460-463.
[4]唐文杰,吕志伟,张伦东,等.基于零速修正辅助MIMU的行人导航算法研究[J].大地测量与地球动力学,2016,36(6):548-551.
[5]Colomar D S,Nilsson J O,Handel P.Smoothing for ZUPT-aided INSs[C]//2012International Conference on Indoor Positioning and Indoor Navigation(IPIN).Sydney,NSW,2012:1-5.
[6]谷阳,宋千,李杨寰,等.基于惯性鞋载传感器的人员自主定位粒子滤波方法[J].电子与信息学报,2015,37(2):484-488.
[7]周启帆,张海,常艳红,等.基于MIMU的行人导航算法研究[J].系统仿真技术,2010,6(4):281-286.
[8]Skog I,Nilsson J O,Handel P.Evaluation of zero-velocity detectors for foot-mounted inertial navigation systems[C]//IEEE IPIN.IEEE,2010:1-6.
[9]Skog I,Nilsson J O,Zachariah D,et al.Fusing the information from two navigation systems using an upper bound on their maximum spatial separation[C]//2012International Conference on Indoor Positioning and Indoor Navigation(IPIN).Sydney:NSW,2012:1-5.
[10]Girisha R.,Prateek G V,Hari K V S.,et al.Fusing the navigation information of dual foot-mounted zerovelocity-update-aided inertial navigation systems[C]//2014International Conference on Signal Processing and Communications(SPCOM).Bangalore,2014:1-6.