基于脚部捷联惯性传感器的行人定位方法比较

Comparison of pedestrian positioning methods based on foot-strapdown inertial sensor

对两种基于脚部捷联惯性传感器的行人定位方法-惯性导航系统(INS)和行人航迹推算(PDR)方法的定位精度进行比较。为行人定位算法的设计提供参考,在布置有超宽带(UWB)定位设备的空旷地带,实验者将捷联惯性测量单元(IMU)穿戴在脚部,以正常步速行走一个周长为124.2 m的一个矩形。用INS和PDR算法分别对采集的惯性数据进行处理得到行人位置;以UWB定位的结果为参考,对两种算法的定位精度进行评价。实验结果表明:INS的平均定位精度比PDR高1 m,并且随着行走距离的增加,PDR的定位误差远高于INS,达到2 m以上。

In order to provide reference for design of pedestrian positioning algorithm,the positioning precisions of inertial navigation system(INS)and pedestrian dead reckoning(PDR)algorithms based on foot-strapdown inertial sensor are compared.In an open space equipped with ultra-wide band(UWB)positioning equipment,the subject wears the foot-mounted inertial measurement unit(IMU)and walks a rectangle with a circumference of 124.2 m at a normal speed.The collected inertial data are processed by INS and PDR algorithms,respectively,to obtain the pedestrian position.The UWB positioning result is used as a reference to evaluate the positioning precisions of the two algorithms.The experimental results show that the average positioning precisions of INS is 1m higher than that of PDR,and with the increase of walking distance,the positioning error of PDR is much higher than INS,which reaches more than 2m.