运动轨迹对行人导航定位误差的影响

Effect of motion trajectory on positioning error of pedestrian navigation

基于零速修正的行人导航算法是采用MEMS惯性传感器实现自主导航的高精度算法之一,航向角误差是影响定位精度的最大因素。目前评价行人导航系统精度的实验轨迹并不统一,而在航向角误差存在时,相同行走距离、不同运动轨迹所产生的定位误差差异较大。针对该问题,分析了不同运动轨迹对定位误差的影响,分别推导了直线、弧形、直线往返、矩形闭合路径下定位误差的数学解析式,不同运动轨迹在理论上的定位误差存在较大差异,据此开展了对应路径的实验研究。结果表明,由解析式计算出的理论轨迹与实验解算得出的轨迹趋势相符合,验证了解析式的正确性。

The pedestrian navigation algorithm based on zero velocity update is one of the high-precision algorithms for autonomous navigation using MEMS inertial sensors.The heading angle error is the biggest factor affecting the positioning accuracy.At present,the experimental trajectories for evaluating the accuracy of pedestrian navigation system are not unified.When the yaw error exists,the positioning errors caused by the same walking distance and different motion trajectories are quite different.To solve this problem,the influence of different motion trajectories on positioning error is analyzed,the mathematical analytical formulas of positioning error under straight line,arc,straight line round-trip and rectangular closed path are theoretically derived,the positioning errors of different motion trajectories are quite different in theory,based on this,the experimental research on the corresponding path is carried out.The results show that the trend of the theoretical trajectory calculated by the analytical formula is consistent with the trend of the trajectory calculated by the experiment,which verifies the correctness of the analytical formula.