室内行人自主定位算法的研究

Research on Indoor Pedestrian Autonomous Location Algorithm

室内定位与导航在军事单兵系统、消防定位和大型场馆引导领域都拥有非常大的需求。由于GNSS导航在复杂的室内环境下会出现衰减、多径等问题,因此针对行人的基于低成本MEMS惯性传感器的行人航位推算(Personal Deadreckoning,PDR)导航系统成为该领域的研究热点。以捷联惯性导航原理为基础,设计了室内行人自主定位算法并实现了该算法实时地解算行人位置,该系统模块佩戴于行人脚部,可以完成在室内环境中行人所在位置的实时定位。实验结果表明,该室内行人自主定位算法的精度在行进距离的1%以内,达到了室内定位功能的要求。

The fields of military pedestrian system,firefighting and large venues have a very large demand of indoor positioning and navigation.GNSS navigation will be chanllenged by attenuation,multipath and other issues in a complex indoor environment.The Personal Dead-reckoning navigation system based on low-cost MEMS inertial sensors become a hot topic in the field.In this paper,the algorithm of pedestrian autonomous positioning is designed and used to solve pedestrian location in real time based on the strapdown inertial navigation system.The system module is worn on the pedestrian foot,and can complete the pedestrian location in indoor and outdoor environment.Experiment results show that the accuracy of the indoor pedestrian localization algorithm is within 1% of the travel distance,which meets the requirement of indoor positioning function.