Indoor and outdoor personal navigation algorithm based on INS/GPS (inertial navigation system/global position system) integration of MEMS (micro-electromechanical system)

A navigation algorithm and detection algorithm technology, which is used in navigation, navigation, mapping and navigation through speed/acceleration measurement, which can solve the problem of high-precision navigation that cannot meet long-distance or long-term navigation, increased navigation error, and alignment time. long and other issues

Inactive Publication Date: 2015-08-05
BEIJING UNIV OF TECH
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Problems solved by technology

However, the structure of the INS is relatively complex, the navigation error increases with time, and the alignment time is relativel

Method used

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  • Indoor and outdoor personal navigation algorithm based on INS/GPS (inertial navigation system/global position system) integration of MEMS (micro-electromechanical system)
  • Indoor and outdoor personal navigation algorithm based on INS/GPS (inertial navigation system/global position system) integration of MEMS (micro-electromechanical system)
  • Indoor and outdoor personal navigation algorithm based on INS/GPS (inertial navigation system/global position system) integration of MEMS (micro-electromechanical system)

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[0062] 1. Such as figure 2 As shown, the curve waveform is the original change curve of the x-axis acceleration, and the rectangular wave is the zero-speed detection waveform obtained by the zero-speed detection method of self-adjusting the threshold when people are walking normally; image 3 As shown, the curve waveform is the original change curve of the x-axis gyro, and the rectangular wave is the zero-speed detection waveform obtained by the zero-speed detection method of self-adjusting the threshold during human running; the sampling period is 100HZ, and the more zero-speed intervals are detected in the same time , The faster the speed, it can be seen from the figure that the running speed is about twice that of the walking time, and the zero-speed detection method with self-adjusting threshold has a good detection effect on the asynchronous mode.

[0063] 2. The MEMS-based inertial measurement unit used in this experiment is the MTI-G-700 long-range sensor produced by Xsens ...

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Abstract

Disclosed is an indoor and outdoor personal navigation algorithm based on INS/GPS integration of MEMS. The method is implemented through the following steps of, in an INS/GPS loosely-coupled integrated navigation error model, selecting the attitude error, the speed error and the position error of INS and the constant drift errors of a gyroscope and an accelerometer as the state variables of an integrated navigation system. Achieving personal position purely through inertial devices can lead to increase of navigation errors over time. The indoor and outdoor personal navigation algorithm based on INS/GPS integration of the MEMS determines whether the system enters an integrated mode through the accuracy of adjacent effective information detected by GPS to GPS measured positions. On the traditional basis of determining through the number of receiving satellites and precision estimation factors, the indoor and outdoor personal navigation algorithm based on INS/GPS integration of the MEMS adds a determining identification window. By fusing the particle filter algorithm of indoor maps and determining whether particle calculation results meet objective facts, the indoor and outdoor personal navigation algorithm based on INS/GPS integration of the MEMS can correct the course errors of an original algorithm and accordingly optimize pedestrian tracks, thereby well providing long-time and high-precision indoor autonomous navigation.

Description

Technical field [0001] The invention relates to the technical field of MEMS-based navigation and positioning, and has a wide range of applications in the field of indoor and outdoor personal navigation. Background technique [0002] Personal Navigation System (PNS), also known as pedestrian navigation system, can determine the direction, speed, location and other information of pedestrians in real time. It is an important emerging branch in the field of navigation and positioning. It is mainly used to track and locate pedestrians. The real-time location of the walking person. MEMS devices have the advantages of small size, low power consumption, light weight, high sensitivity, and low cost. The research of MEMS-based personal navigation systems has become a major research focus. It has a wide range of application prospects in individual combat, firefighter positioning and mountain jungle explorers. [0003] In open areas, the accuracy of the Global Positioning System (GPS) is wit...

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Application Information

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IPC IPC(8): G01C21/16G01S19/47
CPCG01C21/165G01S19/47
Inventor 王普潘凯任明荣张晓东刘艳红
Owner BEIJING UNIV OF TECH
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