基于MEMS惯性传感器和气压计的行人室内导航系统设计

Design of pedestrian indoor navigation system based on MEMS inertial sensor and barometer

面向实际应用需求,设计了一种完整的行人室内导航系统方案。将所设计数据采集模块安装至行人足部,对加速度、角速度以及气压数据进行实时地采集和处理后,基于惯性导航系统(INS)+扩展卡尔曼滤波(EKF)+零速更新(ZUPT)+零角速度更新(ZARU)+启发式偏移消除(HDE)+Barometer算法框架,对传感器数据进行融合,从而对当前位置进行推断,随后将运算结果传输至上位机进行显示。通过在直线路径、组合路径下进行实验,对实验对象的运动轨迹进行了还原。实验结果表明:本文系统方案能够实现1%以内的定位误差,能够满足实际应用需求。

A complete pedestrian indoor navigation system scheme is designed for practical application.The designed data acquisition module is installed on the foot of pedestrian,and the acceleration,angular velocity and air pressure data are collected and processed in real time.Based on inertial navigation system(INS)+extended Kalman filtering(EKF)+zero-velocity update(ZUPT)+zero angular rate update(ZARU)+heuristic drift elimination(HDE)+Barometer algorithm framework,the sensor data are fused to infer the current position,and then the calculation results are transmitted to the host computer for display.Through experiments in corridor path and combination path,the motion trajectory of the experimental object is restored.The experimental results show that the positioning error of the system is less than 1%,which can meet the needs of practical application.