MEMS惯性鞋式行人导航系统

本文以微机械系统（Micro-Electro-Mechanical System，MEMS）惯性器件为测量单元，搭建行人导航硬件系统并进行系统软件设计，硬件系统选用STM32F405作为核心处理器。通过分析行人脚步运动特点，设计零速修正行人导航算法，通过零速修正卡尔曼滤波器单一条件和三条件的零速检测方法进行导航姿态、速度和位置误差评估，并进行鞋式导航实物实验验证。实验结果表明，所设计的鞋式行人导航算法行之有效，并为行人导航系统实际应用指明了研究方向。

MEMS Inertial Shoe-Mounted Pedestrian Navigation System

This paper takes the micro-electro-mechanical system(MEMS) inertial device as the measurement unit to build a pedestrian navigation hardware system and design the system software. The STM32F405 is used as the core processor of the hardware system. Then, a zero-speed correction pedestrian navigation algorithm is designed by analyzing the characteristics of pedestrian foot movements. The zero-speed correction Kalman filter is used to estimate the calculation error of navigation attitude, speed and position by using a single-condition and three-condition zero-speed detection method for pedestrian walking, and the physical experiment of the shoe navigation is verified. The results show that the proposed algorithm effectively meets the navigation requirements, and indicates the research direction for the practical application of pedestrian navigation system.