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Pedestrian dead reckoning method based on low-cost multisensor fusion

A technology of multi-sensor fusion and dead reckoning, applied in the fields of inertial navigation system, control science, indoor positioning system, and computer science, it can solve problems such as poor hardware quality, low sensor accuracy, and susceptibility to external interference

Inactive Publication Date: 2016-12-14
SECOND INST OF OCEANOGRAPHY MNR
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention discloses a pedestrian dead reckoning method based on low-cost multi-sensor fusion to solve the shortcomings of low-cost sensors, low precision, poor hardware quality, and susceptibility to external interference.

Method used

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  • Pedestrian dead reckoning method based on low-cost multisensor fusion
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  • Pedestrian dead reckoning method based on low-cost multisensor fusion

Examples

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Embodiment 1

[0181] The pedestrian dead reckoning method based on low-cost multi-sensor fusion includes the following steps:

[0182] The complete flow chart of the present invention sees figure 1 ;

[0183] Step 1: Initial coarse alignment to obtain attitude

[0184] 1.1) If i represents the inertial coordinate system, e represents the earth coordinate system. Indicates the component of the angular velocity of the e system relative to the i system under the b system. Indicates the component of the angular velocity of the b system relative to the e system under the b system, Indicates the component of the acceleration of b-system relative to i-system under b-system. The speed at the static initial moment is 0, and the output of the accelerometer is:

[0185] a i b b = v b + ( 2 ω ...

Embodiment 2

[0348] In order to evaluate the actual positioning of the "low-cost multi-sensor fusion pedestrian dead reckoning method", the technical process in Example 1 is used, and the device used is the iPad air 2 product launched by Apple in October 2014. The experiment was completed in the indoor rectangular conference hall. The length of the test route was 50.4m, and the sampling frequency was set to 100Hz. The data was collected by walking with a handheld iPad. The original experimental data can be obtained through the SensorLog software.

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Abstract

The invention discloses a pedestrian dead reckoning method based on low-cost multisensor fusion, and a relevant detailed method process is disclosed so as to solve the defects of being low in accuracy, poor in hardware quality, susceptible to interference and the like of low cost sensors. A method combining EKF (extended Kalman Filter), ZUPT (Zero Velocity Update) and a magnetometer is disclosed for gait detection and velocity error correction, and by use of an accelerometer and the magnetometer for gyroscope error correction, heading angle error correction can be realized. Actual tests show that the method can well meet indoor pedestrian positioning requirements, and the positioning error accounts for about 2% of the total distance. The method can greatly reduce the error brought by the low accuracy of multi sensors by use of multisensor fusion, and can effectively improve the attitude accuracy compared with an inertial measurement unit. The method has high application prospect and value in robots, LBS (Location Basic Service), indoor pedestrian dead reckoning, and the like, and has wide practicability and generality.

Description

technical field [0001] The invention relates to the technical fields of computer science, control science, indoor positioning system, inertial navigation system and the like. Background technique [0002] The Pedestrian Dead Reckoning (PDR) system is currently the main system to achieve accurate indoor positioning; based on the Inertial Measurement Unit (IMU), it uses accelerometers and gyroscopes to estimate the position of pedestrians at the next moment without any External information does not radiate any information, and has the characteristics of good autonomy, concealment, and fast data update speed. The accelerometer can be used to measure the acceleration of the pedestrian's movement, and use the known initial position and velocity to integrate the acceleration to obtain information such as the velocity and position of the pedestrian; the gyroscope measures the angular motion of the pedestrian to obtain the transformation information of the pedestrian's angle. Final...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 罗孝文
Owner SECOND INST OF OCEANOGRAPHY MNR
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