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MEMS-IMU-based heading feedback and correction method for indoor pedestrian navigation

A pedestrian navigation and heading technology, applied in the field of pedestrian navigation, to achieve the effect of strong practicability, easy operation of algorithm flow, and improvement of navigation accuracy

Inactive Publication Date: 2018-02-09
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0003] In view of the problems referred to above, the present invention aims to solve the problem of reducing the accumulation of heading angle errors over time in pure inertial navigation

Method used

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  • MEMS-IMU-based heading feedback and correction method for indoor pedestrian navigation
  • MEMS-IMU-based heading feedback and correction method for indoor pedestrian navigation
  • MEMS-IMU-based heading feedback and correction method for indoor pedestrian navigation

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Embodiment Construction

[0022] The invention will be described in further detail below in conjunction with the accompanying drawings.

[0023] Such as figure 1 As shown, during the navigation calculation process, the gyroscope can obtain the angular rate information in real time, and the strapdown heading angle can be obtained in real time through the quaternion calculation, and the calculation frequency can generally be set to 50Hz. When the pedestrian is going straight within the range of the main direction, the difference between the current strapdown heading angle and the current main direction heading angle is subjected to adaptive unscented Kalman filtering, and the sum of the optimal result and the current strapdown heading angle is taken as The output of the current heading angle, and use it as the initial value of the heading at the next moment to participate in the quaternion and Euler angle calculation.

[0024] The heading feedback correction algorithm for indoor pedestrian navigation ba...

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Abstract

The invention discloses a MEMS-IMU-based heading feedback and correction method for indoor pedestrian navigation, belonging to the field of pedestrian navigation. According to the method, it is defined that straight heading along a principal direction of a pedestrian is defined as a heading feedback condition on the basis of typical building structures, a heading difference is constructed as a quantity of state, and adaptive unscented Kalman filtering (AUKF) is carried out; the sum of an optimal estimated result and a strapdown heading angle is used as a feedback heading angle; and a feedbackheading value is allowed to participate into quaternion resolution, so accumulation of heading errors is reduced. Compared with no feedback, time for exact solution of the heading angle is improved bytwo times or more due to usage of feedback, so the method has good practicality to improvement of navigation precision.

Description

technical field [0001] The invention relates to a MEMS-IMU-based indoor pedestrian navigation heading feedback correction method, which belongs to the technical field of pedestrian navigation. Background technique [0002] Pedestrian navigation technology has set off an upsurge of research at home and abroad, among which heading, as one of the core technologies, plays a vital role in the positioning accuracy of pedestrian navigation. In the traditional attitude calculation, the gyroscope is used to obtain the angular rate, and then the angle is obtained through the quaternion calculation. Because the integral principle is used, the heading angle error of the solution will diverge with time, which is not satisfactory for long-term pedestrian positioning. need. Another common method is to use the magnetometer to obtain navigation angle information. As an inherent property of the earth, the geomagnetic field can be used to calculate the magnetic heading angle. However, indoor ...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
Inventor 刘宇刘洪志郭俊启邸克钟懿路永乐杨晓辉方针欧毅
Owner CHONGQING UNIV OF POSTS & TELECOMM
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