Wearable pedestrian navigational positioning method and equipment based on human motion model aid

Abstract

The invention discloses a wearable pedestrian navigational positioning method and equipment based on a human motion model aid. The method comprises the following steps of (1) analyzing a gait during human motion and inertial sensor output under different motion modes; (2) building a zero-speed correction and discrimination model based on the human motion model aid; (3) building a strapdown inertial navigation calculation course angle error model based on a geomagnetism aid; (4) building a strapdown inertial navigation calculation height error model based on a barometric altimeter aid. The equipment comprises an IMU (Inertial Measurement Unit) inertial sensor device, a posture calculation module, a bluetooth module and a button, which can be used for realizing the method. According to the wearable pedestrian navigational positioning method and the equipment based on the human motion model aid provided by the invention, the accuracy and the reliability of pedestrian navigational positioning without GPS (Global Positioning System) and wireless communication signals are improved.

Description

technical field [0001] The invention relates to a wearable pedestrian navigation and positioning method and device based on human motion model assistance, and belongs to the technical field of personal mobile positioning. Background technique [0002] Pedestrian positioning and navigation, as one of the main areas of civil navigation technology development in recent years, is gradually being paid attention to and researched. In recent years, personal positioning devices have been gradually popularized in the civilian market, and most civilian-grade portable devices use the positioning principle of combining GPS satellite positioning and wireless communication technology, but in large cities, shopping malls, tunnels, jungles and valleys, etc. In application environments where satellite navigation signals are susceptible to interference or shielding, the navigation and positioning functions of this type of equipment will be seriously affected. In some specific industries, for...

AI Technical Summary

Problems solved by technology

[0004] For single-autonomous inertial navigation, the low-cost MEMS strapdown solution has a large error in height, and the divergence speed is fast, so it must be corrected effectively to ensure that the height calculation accuracy is actually available

The heading error calculated by the strapdown is also relatively large, and it is prone to fluctuations, resulting in a discrepancy between the navigation result and the actual route. Effective correction must be done to improve the accuracy of the navigation result

Pedestrians have a variety of motion modes in the actual motion process, such as fast walking, running, up and down stairs, jumping, etc. At the same time, there are also large differences in the gaits of different people during the motion process, making it difficult to detect and distinguish gaits ; while the existing research at home and abroad mainly focuses on the identification of pedestrians' normal walking modes, and there is little mention of fast walking, running, going up and down stairs, jumping, etc.

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