Pedestrian navigation method based on relative pose measurement

Abstract

The invention discloses a pedestrian navigation method based on relative pose measurement, and relates to the field of navigation and location. The method comprises the following steps: (1) respectively mounting three groups of relative pose measurement equipment at a left foot and a right foot of a pedestrian; (2) determining navigation coordinate systems; (3) utilizing electronic switches mounted at a left sole and a right sole to detect contact of the left foot and the right foot of the pedestrian with the ground respectively; (4) utilizing a multi-target ranging circuit and an optical camera to respectively measure the relative poses of the left foot coordinate system and the right foot coordinate system, further respectively measuring the relative pose when the left foot and the right foot are in contact with the group for two times, and utilizing 9-axis inertial measurement units on the left foot and the right foot to respectively measure the relative pose when the left foot and the right foot are in contact with the ground for two times; (5) fusing the data of the three groups of pose measurement, and continuously repeating the pose measurement process from the step (3) to the step (5); (6) determining the relative position and the relative pose, corresponding to the navigation coordinate system, of the left foot coordinate system and the right foot coordinate system respectively; (7) displaying the marching paths and the pose of the left foot and the right foot.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and relates to a pedestrian navigation method based on relative pose measurement. Background technique [0002] Pedestrian navigation provides real-time and reliable navigation information for pedestrians, such as position, speed, attitude, etc., which is urgently needed in many production activities, social activities and leisure activities of people. Research on pedestrian navigation methods and technologies has extremely important academic significance and Practical value. [0003] At present, most pedestrian navigation products on the market mainly rely on maps to match GPS positioning. The movement characteristics of pedestrians are subjective and random. In most cases, they walk along sidewalks or tree-lined roads, or when passing through deep forests, tunnels, or entering and exiting urban high-rise building areas, or in indoor environments, where GPS signals are limite...

AI Technical Summary

Problems solved by technology

The movement characteristics of pedestrians are subjective and random. In most cases, they walk along sidewalks or tree-lined roads, or when passing through deep forests, tunnels, or entering and exiting urban high-rise building areas, or in indoor environments, where GPS signals are limited, it is difficult to realize pedestrian monitoring. The continuous navigation positioning of

Moreover, the positioning error of GPS is generally greater than 10 meters, which cannot meet the accuracy requirements of pedestrian navigation.

[0004] The pedestrian navigation method relying on inertial navigation can achieve continuous real-time positioning and navigation in any environment, but the output of the inertial navigation sensor system can only provide accurate short-term position, velocity, acceleration, attitude, and angular rate estimates, and the measurement data includes drift. Or deviation error and noise, long-term use will cause errors to accumulate, and lose the function of navigation and positioning

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