基于惯性传感器行人室内定位导航算法研究

Research on Indoor Pedestrian Positioning and Navigation Algorithm Based on Inertial Sensor

室内环境由于缺少GPS信号,室内定位问题无法直接利用GPS定位,因此本文对基于穿戴式惯性传感器室内定位进行研究,但仅采用基于微机电系统(MEMS)的惯性传感器的定位精度较低,且计算会随时间产生积累误差。本文在航向姿态参考系统(AHRS)上,提出一种基于三轴加速度计和三轴陀螺仪互补滤波融合的方向估计修正算法,补偿陀螺仪漂移误差;设计行走中零速检测算法,通过对行人静止判断,对行人零速更新修正和非零速漂移误差的剔除,最后时刻速度积分获取位置信息。实验结果表明:基于惯性传感器室内导航定位算法中方向估计准确,零速检测结果可靠,确保准确、连续的定位信息。

Due to the lack of GPS signal in the indoor environment,the indoor positioning problem can not directly use GPS positioning.Therefore,this paper studies the indoor positioning based on wearable inertial sensor,but only the inertial sensor based on micro electro mechanical system(MEMS)has low positioning accuracy,and the calculation will accumulate errors over time.The paper presents a correction algorithm of the optimal estimate of orientation which is required to filter fuse together the tri-axis accelerometer and the tri-axis gyroscope based on attitude and heading reference systems,compensate for gyroscope drift error;Designed zero velocity detection algorithm during walking,through judge the pedestrian stationary state,to update zero velocity and cull drift error of non-zero velocity,finally,the location information obtained from the integration of the velocity.The results show that:Indoor navigation and positioning algorithm based on inertial sensor,the estimate of orientation is accurate,the zero velocity detection is reliable,ensures accurate and continuous positioning information.