基于MEMS惯性传感器的行人导航轨迹复现研究

Research on pedestrian navigation trajectory recurrence based on MEMS inertial sensors

针对目前行人导航对精度的需求,提出了基于微机电系统(MEMS)惯性传感器的行人导航系统。系统置于行人脚面,导航算法依据传统捷联惯性导航,采取基于卡尔曼滤波的补偿累积误差算法和零速检测方法,采用三条件判断法,即传感器三轴的总加速度、总加速度方差和总角速度的三条件满足判断方式,解决了行人导航步行过程中累积的误差补偿与校准。分别以圆形路线和矩形路线验证导航算法的适用性和准确性,对比分析实验结果表明:误差结果控制在5%以内,满足导航要求。

A pedestrian navigation system based on micro-electro-mechanical system（ MEMS） inertial sensor is proposed in view of requirement of precision of pedestrian navigation. The system is placed on instep of pedestrian,navigation algorithm based on traditional strapdown inertial navigation,taking compensation accumulation error algorithm and zero speed detection method based on Kalman filtering to compensate three conditions judge method,namely sensor triaxial acceleration,total acceleration variance and total angular velocity of three conditions meet determination way,solve accumulated error compensation and calibration in the process of pedestrian navigation walking. Experimental verification is carried out to verify the applicability and accuracy of the navigation algorithm based on circular and rectangular routes. The results of the experiments are compared and analyzed and it shows that the error of results are within 5%,which meets navigation requirements.