基于互补滤波器的HDE算法在室内行人航迹定位中的研究

Research on Indoor Pedestrian Trajectory Based on Complementary Filter HDE Algorithm

针对现有的启发式偏移消除算法HDE(Heuristic Drift Elimination)在室内建筑不规则方向路径,存在陀螺仪漂移矫正暂停、航位角推算不准确的问题,提出互补滤波器辅助的航向启发式漂移消除的算法AHDE(Advanced Heuristic Drift Elimination).首先利用经反馈系统得到之前航向判断行人行走状态,通过AHDE算法进行航向矫正,最后结合步数及步长信息推算出行人的行走轨迹.实验结果显示,在室内典型直线路线行走80 m时,HDE与AHDE算法平均误差相同,误差不超过2 m;在室内环形路径行走31.4 m时,AHDE算法平均误差在3.4 m以内,而HDE算法平均误差为5.6 m左右.相比之下,AHDE算法在室内航迹推算时,具备更好的稳定性、鲁棒性.

The Heuristic Drift Elimination（ HDE） algorithm has disadvantages such as the gyro drift correction pause and inaccurate heading angle when indoor pedestrians are walking in an irregular direction. The AHDE algorithm was proposed to implement Heuristic Drift Elimination based on heading angle with Complementary Filter by first utilizing feedback system and obtaining previous course direction to judge the current pedestrian who was moving straight or turning,then correcting the direction angle by the AHDE algorithm and finally,calculating the pedestrian＇s trajectory with the information of step number and length. The experimental results show that,when a walk is on a straight line with the distance of 80 m in typical structured indoor environments,the average error of the HDE and IHDE algorithm is almost equal and it is less than 2m. When a walk is on indoor circular path with the distance of 31. 4m,the average error of the AHDE algorithm is less than 3. 4m,and the average error of HDE algorithm is about 5. 6 m.Conclusively,the AHDE algorithm has better stability and robustness in indoor dead reckoning.