基于可穿戴式惯性测量单元的行人室内定位技术

Indoor positioning technology of pedestrianbased on wearable IMU

通过将惯性测量单元系在脚背上,实时测量出人体在行走时的加速度和角速度信息;通过阈值判断和零速校正模型完成对行人步长、步频和方向的解算,绘制出行人的运动轨迹;在搭建的可穿戴式惯性测量单元轨迹监测实验平台中进行模型验证,并将解算绘制出的行人轨迹实验结果与行走时测量的轨迹进行比对。实验结果表明:该方法的准确率均达到在98%以上,实现了对行人在室内环境下的便携式、可穿戴式实时精确测量。

In this method,IMU is attached to instep of foot to measure information of acceleration and angular velocity of the human body in real time while walking.Through threshold value judgment and zero speed correction model,step size,step frequency and direction of pedestrian are calculated,so as to draw the pedestrian’s moving trajectory.Finally,the model is verified on experimental platform for wearable IMU trajectory monitoring.Experimental result of pedestrian trajectory drawn by resolving,is compared with measured trajectory while walking.Results show that the accuracy of this method is more than 98%,which realizes the portable and wearable real-time accurate measurement of pedestrians in indoor environment.