| 摘要: |
| 针对无卫星环境中行人导航定位需求,设计了一种基于足部安装 MIMU的行人导航系统,重点研究了行人导航鞋传感器选型及样机设计流程;并在此基础上设计了基于零速修正和航向修正的行人导航算法,研究了零速区间内最优航向角的提取方法,实现了对瞬时磁干扰产生的磁航向角的有效判断。最后,利用设计的行人导航系统开展了三维空间航迹测试实验,实验结果表明,在不增加高度约束的条件下,该行人导航系统定位精度为0.33%,能够满足坡路环境中行人的定位需求。 |
| 关键词: 行人导航 MIMU 零速修正 航向修正 |
| DOI： |
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| 基金项目:总装预研基金项目(9140A0903175BQ0****) |
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| Design of Pedestrian Navigation System Based on Foot-Mounted MIMU |
| HAN Yong-qiang,TIAN Xiao-chun |
| (School of Automation,Beijing Institute of Technology,Beijing 100081,China;Beijing Institute of Automation Control Equipment,Beijing 100074,China) |
| Abstract: |
| To meet the demand of navigation in GNSS denied environment,a pedestrian navigation system based on foot-mounted MIMU was designed. Two key problems were studied,including the choosing of inertial sensors as well as the design process of the prototype. A pedestrian navigation algorithm was designed based on zero velocity update and azimuth correction. An optimal azimuth angle calculation method within the zero-velocity interval was proposed,which was capable of effectively evaluating the instantaneous disturbed magnetic azimuth angle. At last,a 3-Dementional space positioning experiment was carried out using the previous designed navigation system. Experiment results have shown that the pedestrian navigation system designed can reach a positioning accuracy of 0.33% without altitude restrain,and thus can meet the positioning requirement of pedestrian in slope environment. |
| Key words: Pedestrian navigation MIMU Zero velocity update Azimuth correction |
