Personal navigation system and method based on foot attitude-heading reference and shoulder electronic compass

Abstract

The invention discloses a personal navigation system and method based on foot attitude-heading reference and a shoulder electronic compass. A reference system comprises a coded disc and an AHRS (attitude and heading reference system) fixed on the coded disc. A pedestrian navigation system comprises a foot AHRS, the shoulder electronic compass and a controller. The foot AHRS is connected with the shoulder electronic compass. The reference system, the foot AHRS and the shoulder electronic compass are respectively connected to the controller. The shoulder electronic compass directly inputs measured pedestrian heading information to the foot AHRS to serve as the heading information required by the foot AHRS during attitude transfer matrix calculation. The foot AHRS calculates the track of a pedestrian through an accelerometer and a gyroscope carried thereon and the heading information provided by the electronic compass. The personal navigation system has the advantage that the pedestrian heading information measured by the shoulder electronic compass is introduced into the navigation information calculation process of the foot AHRS to increase the attitude transfer matrix calculation precision of the foot AHRS.

Description

Technical field [0001] The invention relates to the technical field of combined positioning in a complex environment, in particular to a personal navigation system and method based on foot heading and attitude reference and shoulder electronic compass. Background technique [0002] In recent years, Pedestrian Navigation (PN), as an emerging field of navigation technology application, has been paid more and more attention by scholars from various countries, and has gradually become a research hotspot in this field. However, in indoor environments such as tunnels, large warehouses, and underground parking lots, factors such as weak external radio signals and strong electromagnetic interference will greatly affect the accuracy, real-time and robustness of the target pedestrian navigation information acquisition. How to effectively integrate the limited information obtained in the indoor environment to eliminate the influence of the indoor complex environment and ensure the continuou...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of the above two navigation methods that require reference nodes and are prone to loss of lock, scholars proposed to apply the Attitude Heading Reference System (AHRS) to the field of small-area target tracking.

AHRS has the advantages of full autonomy, comprehensive motion information, short time, and high precision. Although it can realize autonomous navigation, the error accumulates with time, and the navigation accuracy will be seriously reduced under long-term operating conditions.

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