Autonomous navigation system positioning method based on strapdown inertial navigation resolving and zero-speed correction

Abstract

The invention discloses an autonomous navigation system positioning method based on strapdown inertial navigation resolving and zero-speed correction. According to the autonomous navigation system positioning method, output data of an MEMS (Micro-electromechanical Systems) accelerometer and an MEMS magnetometer in a pedestrian autonomous navigation system is used for carrying out initial alignment on the system; a strapdown inertial navigation resolving algorithm is used for estimating the state of the pedestrian autonomous navigation system; when a static detecting algorithm detects that pedestrian footsteps are stopped, a zero-speed correction error compensator based on Kalman filtering is designed and a navigation resolving result of the pedestrian autonomous navigation system is corrected by adopting a manner of outputting correction; the defects that an MEMS inertia measurement device is low in precision and has a great positioning error when being used for long time are overcome; a high-precision positioning function of the pedestrian autonomous navigation system is realized under the condition of not increasing external cost. The autonomous navigation system positioning method is simple and high in stability and reliability; the use precision of a single-pawn autonomous navigation system is improved effectively; the autonomous navigation system positioning method has important meanings of realizing autonomous pedestrian navigation and positioning with the high positioning precision.

Description

Technical field [0001] The invention belongs to the technical field of navigation and positioning, and in particular relates to an autonomous navigation system positioning method based on strapdown inertial navigation solution and zero-speed correction. Background technique [0002] Pedestrian autonomous navigation system (including MEMS three-axis magnetometer, MEMS three-axis accelerometer, MEMS three-axis gyroscope) is mainly used for personal autonomous navigation and real-time positioning under known or unknown conditions, and assists in completing various types of emergency rescue missions . When emergency accidents such as fires and earthquakes occur, there may be situations that are not conducive to rescue such as reduced visibility and changes in the inherent environment at the accident site, and rescuers cannot quickly and accurately identify their own location. At this time, the positioning information provided by the pedestrian navigation system can provide effective...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a MEMS pedestrian autonomous navigation system positioning method based on strapdown inertial navigation and zero-speed correction, aiming to solve the problem of low precision of existing MEMS inertial measurement devices and problems based on MEMS inertial measurement technology. The problem of large navigation and positioning errors when the pedestrian autonomous navigation system is used for a long time

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