基于模糊逻辑的室内导航步长估计方法研究

Research on the method of step length estimation in indoor navigation system based on fuzzy logic

目前,基于微机械系统(MEMS)的行人航迹推算(PDR)室内导航定位系统都会面临步长估计的问题,因此提出了一种基于模糊逻辑的非线性步长估计方法。首先采用非线性步长估计方法模型,然后以步频、身高、体重作为逻辑系统输入变量设计模糊逻辑控制器,得到可变的步长估计系数,从而实现对步长动态估算。通过对30 m以内多次室内行走的实验结果分析表明,基于模糊逻辑的步长估计方法平均步长准确率可达到92%,与传统的步长估计算法相比提高约9%,有效提高了步长估计精度。

Currently, most of Pedestrian Dead Reckoning （PDR） indoor navigation system based on Micro-Mechanical Systems （MEMS） are faced with the problem of estimation step, a nonlinear step length estimation method based on fuzzy logic is proposed. First,this paper chooses a nonlinear step estimation model. Then it designs a fuzzy logic controller using the stride frequency, height and weight as a logic input variables of the fuzzy logical system. After that the variable step length estimation coefficients are gotten. Finally the estimation of dynamic step length is gotten. Through the indoor walking experiments within 30 m, the results show the accuracy of this method based on fuzzy logical method can get 93%, improved about 9% comparing with the traditional step estimation algorithm, which effectively improves the estimation precision of step length estimation.