Pedestrian autonomous navigation calculation algorithm based on MEMS-IMU

A technology of autonomous navigation and navigation calculation, applied in the field of navigation calculation algorithm, can solve the problems of large navigation positioning error, inaccurate zero-speed detection, and short zero-speed correction time

Inactive Publication Date: 2014-05-07
HARBIN ENG UNIV
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Problems solved by technology

Most of the error compensation algorithms based on zero-speed correction have defects such as inaccurate zero-speed detection, lagging detection results, and short zero-speed correction time. Although the navigation accuracy of pedestrian autonomous navigation systems can be impro...

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  • Pedestrian autonomous navigation calculation algorithm based on MEMS-IMU
  • Pedestrian autonomous navigation calculation algorithm based on MEMS-IMU
  • Pedestrian autonomous navigation calculation algorithm based on MEMS-IMU

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Embodiment Construction

[0083] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0084] figure 1 It is the schematic diagram of pedestrian autonomous navigation solution based on dual MEMS-IMU, figure 2 It is the maximum step size value diagram in the pedestrian autonomous navigation solution algorithm based on dual MEMS-IMU.

[0085] A pedestrian autonomous navigation solution algorithm based on dual MEMS-IMU, which includes the following steps:

[0086] Step 1: Fix the two IMU systems in the pedestrian autonomous navigation system based on dual MEMS-IMU on the two feet of the pedestrian respectively, and the handheld PDA receives and stores the measurement information output by the two IMU systems in real time when the pedestrian is moving;

[0087] Step 2: Use the output data of the pedestrian autonomous navigation system stored in step 1, and use the strapdown inertial navigation system navigation solution method to find t...

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Abstract

The invention discloses a pedestrian autonomous navigation calculation algorithm based on an MEMS-IMU. Two IMU systems are simultaneously and fixedly connected with the two feet of the user of a pedestrian navigation system; the two systems respectively perform a strapdown inertial navigation calculation algorithm and a zero-speed correcting algorithm on the basis of Kalman filtering, and then the positioning information of the two feet is fused; when the calculation distance between two feet exceeds the largest step size gamma between the two feet, inequality constraint is performed on navigation results of two IMUs by adopting a state constraint Kalman filtering algorithm, so that vague human physiological property problem is converted into a rigid mathematical problem, the optimal estimation of navigation results is achieved, and pedestrian navigational positioning function with higher accuracy is achieved.

Description

Technical field: [0001] The present invention relates to a navigation solution algorithm, in particular to a pedestrian autonomous navigation solution algorithm based on dual MEMS-IMU (micro mechanical system-inertial measurement unit). Background technique: [0002] In recent years, with the improvement of the precision of MEMS inertial devices at home and abroad, it is possible to use the strapdown inertial navigation system calculation algorithm to carry out pedestrian dead reckoning, especially the use of strapdown inertial navigation calculation algorithm can provide more complete navigation information . But even so, if it works for a long time, the MEMS inertial device error will still diverge seriously. The pedestrian dead reckoning results obtained by the strapdown inertial navigation solution algorithm verify that if the MEMS inertial device error cannot be effectively compensated during navigation, the position error It will diverge with the trend of the cube of ...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16G01C21/20
Inventor 于飞于春阳兰海钰周广涛刘凤赵博李佳璇孙艳涛郝勤顺张丽丽梁宏
Owner HARBIN ENG UNIV
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