Pedestrian navigation device and method based on novel multi-sensor fusion technology

Abstract

The invention discloses a pedestrian navigation device and method based on a novel multi-sensor fusion technology. The device comprises a handheld intelligent equipment platform, an observed quantity processing unit and a fusion filter. The method comprises the following steps that 1, handheld intelligent equipment utilizes hardware for obtaining original data of IMU, a magnetometer, a pressure meter, WiFi, BLE, GNSS and the like; 2, the observed quantity processing unit processes the original data provided by the handheld intelligent equipment so as to provide the observed quantity such as the position or speed for the fusion filter; 3, the fusion filter utilizes a kinetic model as a system model, an observation model is built according to a result of the observed quantity processing unit, and a pedestrian navigation result is finally obtained through processing of the fusion filter. According to the pedestrian navigation device and method, the defect that on the condition that no other auxiliary system exists, navigation errors are rapidly accumulated is overcome; an IMU processing module considers various modes of the handheld intelligent equipment and breaks through the limit of a traditional multi-sensor fusion IMU and carrier fixation; the pedestrian navigation accuracy is improved.

Description

technical field [0001] The invention relates to the fields of multi-sensor fusion and pedestrian navigation, in particular to a pedestrian navigation device and method based on novel multi-sensor fusion technology. Background technique [0002] With the development of the mobile Internet, indoor and outdoor pedestrian navigation applications are booming, such as indoor navigation of large shopping malls, patient tracking in hospitals, and crowd flow analysis in supermarkets. Multiple market analysis reports at home and abroad agree that pedestrian navigation will be a research direction with a huge market. At the same time, portable smart devices, such as smartphones, tablets, and smart watches, have been developing at a super-speed in the past decade and have become an indispensable part of people's lives. Most of these portable devices have powerful processors, wireless transceivers, cameras, GNSS receivers and numerous sensors. Therefore, these portable smart devices ha...

AI Technical Summary

Problems solved by technology

[0005] The existing multi-sensor fusion technology has the following two fatal shortcomings (1) In the absence of other auxiliary systems, navigation errors will accumulate rapidly; (2) When the inertial unit and the carrier are not fixed, for example: pedestrian navigation For mobile phones and pedestrians, the traditional multi-sensor fusion technology cannot correctly estimate the information of the carrier

Therefore, the existing multi-sensor fusion technology cannot provide accurate pedestrian navigation information in many scenarios

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