行人导航系统航向角约束算法研究

针对航向角发散的情况，采用磁力计和地图线路匹配约束的方法修正航向角误差。根据磁力计和地图线路匹配算法各自的特点，在零速修正技术的基础上，最终选择在行人直线行走时采用地图线路匹配辅助，弯路行走时采用磁力计辅助的算法，通过EKF进行误差估计从而补偿航向角误差。最后将设备置于行人足后跟处进行实验，实验结果表明，此方法能够有效抑制航向角漂移误差，导航精度明显提高，最终定位误差为1.2m，占总行程的0.3%。

Research on Heading Angle Constraint Algorithm of Pedestrian Navigation System

In view of the divergence of the heading angle, the magnetometer and map-line matching are proposed to restrain the heading angle error in this thesis. According to the characteristics of the magnetometer and the map-line matching algorithm, the map-line matching assistantance is adopted when pedestrian walks in a straight line, and the magnetometer assisted algorithm is used when pedestrian walks along a curved road. The error can be estimated by Extended Kalman Filter (EKF) to compensate the heading angle error. Finally, the device is placed at the heel of the pedestrian to take experiments. The experimental results show that this method can effectively suppress the heading angle drift error, and the navigation accuracy is obviously improved. The final positioning error is 1.2m, accounting for 0.3% of the total stroke.