A Heading Error Measurement Method Based on Indoor Dominant Direction

A technology of heading error and measurement method, which is applied in the field of indoor navigation, can solve problems such as error drift and unobservable heading error, and achieve the effect of simple method, high stability and reliability, and overcoming large drift

Inactive Publication Date: 2016-08-17
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The object of the present invention is to provide a kind of heading error measurement method based on the indoor dominant direction that can solve the error drift problem caused by the unobservable heading error of the existing micro inertial measurement unit

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  • A Heading Error Measurement Method Based on Indoor Dominant Direction
  • A Heading Error Measurement Method Based on Indoor Dominant Direction
  • A Heading Error Measurement Method Based on Indoor Dominant Direction

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Embodiment Construction

[0023] The present invention will be described in more detail below with examples in conjunction with the accompanying drawings.

[0024] The heading error measurement method based on indoor dominant direction of the present invention comprises the following steps:

[0025] Step 1: Fix the micro inertial measurement unit on the human foot, and collect the measurement information output by the measurement unit, including the angular velocity w output by the gyroscope ib , the specific force f output by the accelerometer and the heading output by the electronic compass

[0026] Step 2: According to the angular velocity w obtained in Step 1 ib get body heading

[0027] Step 3: Obtain the human body position p according to the specific force f obtained in step 1;

[0028] Step 4: Obtain the stride heading θ of the human body according to the human body position p obtained in step 3, and its measurement equation is:

[0029] θ = arctan ...

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Abstract

The invention provides a course error measurement method based on indoor predominating direction. The characteristic that two opposite corridors of a regular building are parallel to each other, and are orthogonal with each other is utilized, and the course provided by the known indoor predominating direction is taken as reference value, so that the problem that the course error can not be observed can be solved; the difference value between the accurate course provided by the indoor predominating direction and the stride course is taken as system state variable, and a kalman filter is used for estimating, so that the course error can be obtained. The defect of large course error drifting can be overcome, and the navigation accuracy is improved. The method is simple and high in stability and reliability; after the course error measurement method is adopted, the navigation accuracy is effectively improved.

Description

technical field [0001] The invention relates to an indoor navigation technology, in particular to a heading error measurement method based on an indoor dominant direction. Background technique [0002] Due to the unobservability of the heading error, the micro-inertial measurement unit used for indoor navigation has serious heading error drift. The error drift makes the system unable to navigate correctly, and eventually loses the meaning of navigation. How to suppress heading error drift and improve navigation accuracy has always been a difficult problem for indoor navigation. When a single moving object such as a person moves in a regular building, the indoor dominant direction can provide a reference value for the heading of the moving object. The indoor dominant direction The difference between the provided heading and stride heading is used as the state variable, and the Kalman filter is used to estimate the state variable to obtain the heading error value, which can su...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor于飞白红美李佳璇于春阳周广涛赵博杨若雨张丽丽
OwnerHARBIN ENG UNIV