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Indoor pedestrian navigation magnetic heading solution method based on improved complementary filtering

A complementary filtering and pedestrian navigation technology, applied in the field of indoor pedestrian navigation, can solve problems such as trigonometric function calculation problems, equation singularities, constraints applicable conditions, etc., to achieve the effects of strong practicability, high installation flexibility, and high precision

Active Publication Date: 2019-05-31
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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

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  • Indoor pedestrian navigation magnetic heading solution method based on improved complementary filtering
  • Indoor pedestrian navigation magnetic heading solution method based on improved complementary filtering
  • Indoor pedestrian navigation magnetic heading solution method based on improved complementary filtering

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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]

[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, k 2 is the weight of the accelerometer;

[0040] Step 2. Establish an improved complementary filter algorithm model according to the complementary filter parameters obtained in step 1, and then calculate the attitude angle. The specific calculation is as follows:

[0041] f k1 =f k -Δf k-1

[0042] ...

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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

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Application Information

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Patent Type & Authority Patents(China)
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
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