基于足部安装MIMU的行人导航系统设计

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。

Design of Pedestrian Navigation System Based on Foot-Mounted MIMU

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.