Personal autonomous navigation system positioning method based on segment RTS smoothing algorithm
An autonomous navigation system and smoothing algorithm technology, applied in navigation calculation tools, navigation through speed/acceleration measurement, measurement devices, etc., can solve the problems of personal walking trajectory discontinuity or sudden change, sharp correction, trajectory discontinuity, etc.
Inactive Publication Date: 2014-03-19
HARBIN ENG UNIV
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However, the zero-speed correction is only triggered when the static detection result of the footsteps of the user of the personal autonomous navigation system is static, that is, during the step-by-step movement, only a short time is used to correct the error, which will cause a rapid correction of the system error. Resulting in discontinuity or mutation of personal walking trajectory
At the same time, the positioning accuracy of the personal autonomous navigation system corrected solely by the zero-speed correction algorithm based on the Kalman filter is still lower than other personal positioning products.
[0003] Generally speaking, the existing personal autonomous navigation system based on the zero-speed correction algorithm based on Kalman filter has problems such as sharp correction, discontinuous trajectory, and relatively low navigation accuracy, which is difficult to meet the requirements of accurate and reliable personal navigation.
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[0033] The present invention will be further described below in conjunction with accompanying drawing:
[0034] The present invention comprises the following steps:
[0035] (1) Gather angular rate information, specific force information, and magnetometer information output by the personal autonomous navigation system under normal working mode; the output information of the personal autonomous navigation system collected at any time k is:
[0036] Angular rate information: ω b ( k ) = ω b x ( k ) ω b y ...
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The present invention discloses a personal autonomous navigation system positioning method based on a segment RTS smoothing algorithm. The personal autonomous navigation system positioning method comprises: collecting angular seed information, specific force information and magnetometer information output by a personal autonomous navigation system at a normal work mode; calculating personal positioning information with no error compensation according to the information output by the system; adopting the data output by the system and the formula to determine a zero speed interval during a movement process, and carrying out segmentation on the data according to the zero speed interval; and using the improved RTS smoothing algorithm in every segment to obtain the personal positioning information with the error compensation. According to the present invention, based on use of the zero speed calibration as the error compensation correction algorithm, according to the characteristics of the data output by various sensors when a person walks, the zero speed interval is adopted to carry out segmentation on various data, and the personal autonomous navigation system positioning method based on the segment RTS smoothing algorithm is designed; accuracy of the personal autonomous navigation system positioning is increased without system cost increase; and the method has characteristics of simpleness, high stability and high reliability.
Description
technical field [0001] The invention relates to a positioning method for a navigation system, in particular to a positioning method for a personal autonomous navigation system based on a segmented RTS smoothing algorithm. Background technique [0002] Today, the personal autonomous navigation system has become a must for individual combatants in the field in the West. The personal autonomous navigation system can help special arms such as rapid response forces to quickly understand the terrain and realize their own positioning in known or unknown areas. Therefore, improving the positioning accuracy of the personal navigation system is of great significance to improving the technical strength of the entire army. Personal navigation autonomous positioning devices include MEMS accelerometers, MEMS magnetometers, MEMS gyroscopes, etc. Like other inertial navigation devices, the error diverges seriously over time during work. Therefore, an effective error correction algorithm mus...
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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C21/20
Inventor于飞于春阳兰海钰周广涛刘凤卢宝峰史宏洋赵博白红美林萌萌姜鑫梁宏
OwnerHARBIN ENG UNIV