Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Magnetic course resolving method for indoor pedestrian navigation based on improved complementary filter

A complementary filtering and pedestrian navigation technology, applied in the field of indoor pedestrian navigation, can solve the problems of trigonometric function calculation, singular phenomenon of equations, applicable conditions of constraints, etc., and achieve the effect of strong practicability, high installation flexibility and high precision

Active Publication Date: 2016-11-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
View PDF5 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, indoor pedestrian navigation is more popular, and the magnetic heading sensor is one of the key modules. However, the current magnetic sensors are all connected to the human body (wearable), which greatly restricts their applicable conditions and is not very practical.
For the strapdown inertial navigation system, the attitude solution is an important link, but the current attitude calculation algorithm of the strapdown inertial navigation (including the Euler angle method, the direction cosine method, the quaternion method, etc.) has trigonometric function calculation problems and equation singularities. Phenomena, etc., with high complexity

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Magnetic course resolving method for indoor pedestrian navigation based on improved complementary filter
  • Magnetic course resolving method for indoor pedestrian navigation based on improved complementary filter
  • Magnetic course resolving method for indoor pedestrian navigation based on improved complementary filter

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0034] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0035] Such as figure 2 As shown, the indoor pedestrian navigation magnetic heading solution method based on the improved complementary filter, specifically includes the following steps,

[0036] Step 1. Obtain the complementary filter parameter k from the perspective of time domain 1 and k 2 , the specific calculation is as follows:

[0037] k 2 = σ 1 2 σ 1 2 + σ 2 2

[0038] k 1 =1-k 2

[0039] in, is the variance of the angle obtained by gyroscope integration, is the variance of the angle obtained by the acceleration, k 1 is the weight of the gyroscope...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a magnetic course resolving method for indoor pedestrian navigation based on an improved complementary filter. Parameters of a complementary filter are designed in a view of a time domain; an improved complementary filter algorithm model is established; a pedestrian movement mode identification algorithm model is established; and two-dimensional elliptical calibration of a magnetic sensor is utilized for resolving a magnetic course angle of an indoor pedestrian in real time. A low-precision consumer-grade MEMS sensor chip is adopted for ensuring high accuracy of indoor and outdoor course angle and is high in practicability. The MEMS sensor chip is installed in a non-fixed connection manner, is high in installation flexibility, and is not limited by the use environment. The MEMS sensor chip is suitable for a wide scene, is simple and convenient in use method, and ensures high-precision output in a short time.

Description

technical field [0001] The invention relates to an indoor pedestrian navigation magnetic heading calculation algorithm, in particular to an indoor pedestrian navigation magnetic heading calculation method based on an improved complementary filter, and belongs to the technical field of indoor pedestrian navigation. Background technique [0002] By virtue of the measurement of the earth's magnetic field, the magnetic heading sensor can effectively calculate the heading angle of the current carrier for a long time, and is widely used in various fields. At present, indoor pedestrian navigation is more popular, and the magnetic heading sensor is the key module. However, the current magnetic sensors are all connected to the human body (wearable), which greatly restricts their applicable conditions and is not practical. For the strapdown inertial navigation system, the attitude solution is an important link, but the current attitude calculation algorithm of the strapdown inertial n...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 黄欣熊智许建新孔雪博赵宣懿
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com