基于改进零速检测方法的室内定位系统

Indoor Positioning System Based on Improved Zero Velocity Detection Method

为了实时跟踪室内人员的位置信息,设计了一种基于惯性导航技术的室内定位系统.在系统中运用改进零速修正技术,减小惯性导航累积误差,使得定位精度优于1%里程.人员的位置信息通过4G通信实时传送至云端,其运动轨迹被同步绘制并显示在用户界面.测试场景为一栋两侧为消防楼梯间的方形建筑,佩戴此系统装置的测试人员从一层进入建筑,穿越长廊到达北侧消防楼梯间,向上走至三层,再穿越长廊到达南侧防烟楼梯间,从此处楼梯间下至一层,回到起始点结束,完成一个闭环测试路径,包括正常行走、小跑、上下楼等运动方式.多次测试的实时定位误差均在1%以内,证明该室内定位系统在不依赖于外界信息的情况下具有良好的实时自主导航性能.

An indoor positioning system based on inertial navigation is designed to track indoor pedestrian movements.In this system,the accumulated error in inertial navigation is reduced by the improved zero velocity update,increasing the positioning accuracy of the positioning system to less than 1%mileage.The real-time positioning information obtained by the system is uploaded to the cloud through 4G communication,and the tracks of pedestrian movements are simultaneously drawn and displayed at the user interface.The test is performed in a square-shaped building with stairwells on the opposite sides for fire fighting.The testers equipped with the system enter this building from the first floor,go through a long corridor and then arrive at the stairs in the north.Then they climb the stairs to the third floor and come to the smoke-proof stairwell in the south after a long corridor.From this stairwell,they go down stairs to the first floor and return to the starting position.At this point,the whole process is completed in a closed loop,involving the movements of testers such as walking,trotting,and going up and down stairs.Multiple tests reveal the real-time positioning error is less than 1%,proving the superior real-time autonomous navigation of the indoor positioning system without any auxiliary system.