基于零加速修正的室内惯性定位算法

Zero-acceleration-correction-based indoor inertial positioning algorithm

惯性微传感器定位精度受到累积误差影响严重,甚至在连续定位过程中出现无法收敛问题,使估计位置严重偏离实际位置。基于零加速状态检测并修正传感器平台姿态的算法可以在常规传感器配置条件下解决传感器的累积误差影响问题。将采集的加速度值与相应的阈值比较,检测出平台的零加速状态,根据检测到的零加速状态对平台的姿态信息进行重新修正估计,达到削弱累积误差影响的目的。理论分析表明,基于零加速修正的惯性定位算法具有较优异的计算复杂度。室内外实验结果表明,经过零加速修正定位算法得到的轨迹与行人真实轨迹能够较好契合,验证了该算法可以不依赖于GPS实现对行人的有效定位。

The positioning accuracy of inertial micro sensor positioning is seriously affected by the cumulative error,and even the problem of unconvergence occurs in the continuous positioning process,which causes the estimated position to deviate from the actual position seriously.The algorithm,which is based on zero-acceleration state detection and modifies the sensor platform attitude,can solve the problem of sensor cumulative error under conventional sensor configuration.The acceleration sample was compared with the corresponding threshold value to detect the zero acceleration state of the platform,and then the attitude information of the platform was re-estimated according to the detected zero acceleration state so as to weaken the influence of cumulative errors.Theoretical analysis shows that the inertial positioning algorithm based on zero acceleration correction has excellent computational complexity.The results of indoor and outdoor experiments also show that the trajectories,which obtained using the zero-acceleration-correction positioning algorithm,fit well with the real trajectories of pedestrians,which verifies that the algorithm can effectively locate pedestrians without relying on GPS.