一种优化高度通道的行人导航算法

A Pedestrian Navigation Algorithm with Improved Height Channel

针对纯惯性行人导航系统中,高度误差很快发散的问题,提出了一种在零速区间内将水平误差和高度误差分开修正的算法。首先,利用陀螺仪输出在零速区间内的先验信息,设计了一个基于伪标准差和N-P准则的零速检测算法。然后,通过对比纯惯导条件下零速修正前后高度估计的结果,发现传统零速修正对高度误差过度修正,因而提出一种将水平误差和高度误差分开修正的方法,以便控制高度修正的程度,使得高度修正结果按照期望进行。经过大量不同环境,不同行人的实测实验,验证了文章提出的改进高度通道的行人导航零速修正算法准确有效,相对传统零速修正算法,本算法大大提高了高度估计的精度。

In this paper, in order to solve the problem that the height error is diverged quickly in the pure inertial pedestrian navigation system, an algorithm for correcting the horizontal error and the height error separately in the zero-velocity interval was proposed. Firstly, the gyroscope was used to output the prior information in the zero-velocity interval, and a zero-speed detection algorithm based on pseudo-standard deviation and N-P criterion was designed. Then, by comparing the results of height estimation before and after zero-velocity updating under pure inertial navigation conditions, it was found that the traditional zero-velocity updating over-corrected the height error. Therefore, a method of separately correcting the horizontal error and the height error was proposed to control the degree of height correction. The height correction results were made according to our expectations. After a large number of different environments and different pedestrians’experiments, the improved pedestrian navigation zero-velocity updating algorithm proposed in this paper was accurate and effective. Compared with the traditional zero-velocity updating algorithm, this algorithm greatly improves the accuracy of height estimation.