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Course-drifting-error elimination method of indoor inertial navigation positioning

An inertial navigation and heading drift technology, applied in the field of indoor navigation, to solve the heading drift error and improve the accuracy

Active Publication Date: 2015-04-29
莫冰
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Problems solved by technology

[0005] The main purpose of the present invention is to propose a method for eliminating the heading drift error of indoor inertial navigation and positioning, which can effectively solve the heading drift error caused by the gyroscope not working when stationary, thereby improving the accuracy of the indoor pedestrian inertial navigation and positioning system

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  • Course-drifting-error elimination method of indoor inertial navigation positioning
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  • Course-drifting-error elimination method of indoor inertial navigation positioning

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Embodiment Construction

[0024] The present invention will be further described below through specific embodiments.

[0025] refer to Figure 1 to Figure 3 , a method for eliminating heading drift errors in indoor inertial navigation positioning is implemented based on an inertial measurement unit, which includes a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, and an MCU. First, calculate the initial value of the attitude quaternion through the three-axis accelerometer and the three-axis magnetometer. The initial value of the attitude quaternion is calculated by the following steps:

[0026] First, the acceleration (a x ,a y ,a z ) to determine the initial attitude angle: Among them, θ is pitch angle, γ is roll angle, g is gravitational acceleration g=9.8m / s 2 . Note that the initial position coordinate system composed of the x-axis, y-axis and z-axis of the three-axis magnetometer is b, the coordinate system parallel to the local horizontal plane is n, the inter...

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Abstract

The invention discloses a course-drifting-error elimination method of indoor inertial navigation positioning, which is realized on the basis of an inertial measurement unit. The inertial measurement unit comprises a triaxial accelerometer, a triaxial magnetometer and a triaxial gyroscope. The course-drifting-error elimination method comprises the following steps: calculating an attitude-quaternion initial value by the triaxial accelerometer and the triaxial magnetometer in advance; in the process of indoor inertial navigation positioning, firstly reading the angular velocity (omega x, omega y and omega z) by the triaxial gyroscope to judge that whether the inertial measurement unit is in a motion state or not, if so, combining with the angular velocity (omega x, omega y and omega z), calculating real-time attitude-quaternion Q (q0, q1, q2 and q3) by a quaternion differential equation (shown in the specification), and if not, maintaining that the current attitude quaternion is constant; and finally, solving a course angle and an attitude angle of the inertial measurement unit by the real-time attitude quaternion. The course-drifting-error elimination method disclosed by the invention has the advantages that the course drifting error caused by inoperation of the gyroscope when in a static state can be effectively solved, so that the accuracy of an indoor pedestrian inertial navigation positioning system is improved.

Description

technical field [0001] The invention relates to the field of indoor navigation, in particular to a method for eliminating heading drift errors of indoor inertial navigation positioning. Background technique [0002] With the development of society, people's demand for indoor location-based services is more and more urgent, for example, it can be applied to mobile shopping, mobile e-commerce, personalized advertisements / preferential information, etc. Users will want to be able to directly get the location of the store or the desired product without spending a lot of time looking for it. Since satellite navigation and positioning methods such as GPS cannot work normally in indoor environments, how to solve the problem of indoor positioning has become the focus of people's research in recent years. [0003] At present, the existing indoor positioning system solutions mainly include: WiFi positioning, ultrasonic positioning, radio frequency positioning and inertial navigation p...

Claims

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Application Information

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IPC IPC(8): G01C25/00G01C21/16
CPCG01C25/005
Inventor 莫冰朱金林曾显彬杨逸纯毛文辉蔡钧
Owner 莫冰
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