Pedestrian indoor position tracking method based on inertial sensor
An inertial sensor and indoor position technology, applied to instruments, measuring devices, and navigation through speed/acceleration measurement, can solve problems such as time-consuming, inconvenient to carry, and poor real-time performance, and achieve position estimation error reduction and improvement The effect of accuracy
Active Publication Date: 2014-09-24
严格集团股份有限公司
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Abstract
The invention discloses a pedestrian indoor position tracking method based on an inertial sensor, relates to a pedestrian indoor position tracking method and particularly relates to a PDR (precision depth recorder) method and a PF fusion map information algorithm based on the inertial sensor. The pedestrian indoor position tracking method disclosed by the invention is used for solving the conditions such as great position estimation errors and even wrong estimation, and the like caused by long-time drift performance of the inertial sensor when only the PDR is used for tracking the pedestrian position. The method comprises the following steps of I. detecting steps and estimating step length according to an acceleration sensor; II. estimating a course angle according to the change of three-axle angular velocity in measured data of a gyroscope, correcting the course angle, carrying out course calculation according to the corrected course angle and the step length of the first step; and finally, estimating the position according to the step length and the course angle through the PDR method; and III. fusing map information with the PDR estimation by particle filtering to complete the pedestrian indoor position tracking method based on the inertial sensor. The pedestrian indoor position tracking method disclosed by the invention is applied to the technical field of indoor positioning.
Application Domain
Navigation by speed/acceleration measurements
Technology Topic
Time driftAngular velocity +8
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