摘要
为解决自主式行人导航时各种误差随着时间不断累积,系统长期精度差的问题,提出了一种基于MEMS传感器的双轨迹融合导航系统.通过行人左、右脚各绑定一套MEMS传感器,根据零速检测方法检测出零速状态,再利用卡尔曼滤波进行零速修正,最后结合行人左右脚最大分离距离作为约束条件,实现双轨迹融合.实验表明,利用所提出的导航系统方案提高了整体导航性能,位置误差比未融合时降低了65%.
In order to solve the problem that various errors are accumulated over time and the long-term accuracy of the system is poor,a dual-track fusion navigation system based on MEMS sensor is proposed to solve the problem of autonomous pedestrian inertial navigation.The zero-speed state is detected according to the zero-velocity detection method,and the zero-velocity updates（ZUPT）correction is carried out by using the Kalman filter.Finally,the maximum separation distance of the pedestrian left and right foot is taken as the constraint condition to realize the double trajectory Fusion.Experiments show that the overall navigation performance is improved by using the proposed navigation system scheme,and the position error is reduced by 65% compared with when not being integrated.
作者
王云瑞
伍萍辉
曾成
WANG Yun-rui;WU Ping-hui;ZENG Cheng(School of Electronic and Information engineering, Hebei University of Technology, Tianjin 300401, China;Tianjin Key Laboratory of Electronic Materials and Devices Tianjin 300401, China)
出处
《微电子学与计算机》
CSCD
北大核心
2018年第5期116-119,123,共5页
Microelectronics & Computer
关键词
惯性导航
轨迹融合
卡尔曼滤波
零速检测
零速修正
约束条件
inertial navigation
trajectory fusion
Kalman filter
zero-velocity detection
zero-velocity update
constraint conditions
