基于MIMU的行人导航算法研究

Reasearch of Pedestrian Navigating Algorithm Based on MIMU

行人导航系统(Pedestrian Navigation System,PNS)为实时确定行人当前所在位置的定位导航系统,可记录人的步行轨迹或指引人抵达预设目的地。行人导航算法是由三轴MEMS(微电子机械系统)陀螺、MEMS加速度计构成的MIMU(微型惯性测量单元)和三轴磁阻传感器组合搭建的测量装置,置于行人腰部感受其行走时的运动,首先利用加速度计输出进行步态识别,其次建立步长与步长系数、步速之间的关系,使用最小二乘法标定步长系数的方法,实现了步长计算因人的行走速度、人与人行走方式不同的自适应调节,提高了步长的计算精度,最后融合捷联航向和磁航向计算行进方向,使用航迹递推计算轨迹。经测试,此算法具有较高的定位精度。

Pedestrian Navigation System （PNS） is a system aims at determining the current location of person,the system can record the walking trajectory or guide person to the destination.This paper presents an algorithm of PNS based on a measurement device attached to the waist of people,the measurement device is consisted of MIMU（Micro Inertial Measurement Unit） with triaxial orthogonal MEMS（Micro-Electro-Mechanical Systems） accelerometers,MEMS gryoscopes and triaxial orthogonal magnetometers.First,the accelerator signal is used to detect steps;Secondly,a method to construct the relationship between stride length,length coefficient,walking speed and calibrate the length coefficient by Least-Squares identification is presented,which adaptively adjusts the calculation of stride length in the situation of different walking speeds and manners,enhances the accuracy of stride length;Finally,the heading direction is derived from INS azimuth and compass azimuth,the walking trajectory is calculated by Dead Reckoning,Several tests were conducted and the result shows that the algorithm has a high positioning accuracy.