Self-adaptive zero velocity update pedestrian navigation method based on MEMS sensor

A technology of zero-speed correction and pedestrian navigation, which is applied in the field of integrated navigation, can solve problems such as the inconsistency of the actual route of the navigation result, the large heading error of the strapdown calculation, and the difficulty of gait detection and resolution, so as to improve the adaptability and reliability Effect

Inactive Publication Date: 2018-03-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

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 th

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  • Self-adaptive zero velocity update pedestrian navigation method based on MEMS sensor
  • Self-adaptive zero velocity update pedestrian navigation method based on MEMS sensor
  • Self-adaptive zero velocity update pedestrian navigation method based on MEMS sensor

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[0031] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0032] This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0033] The invention discloses an adaptive zero-speed correction pedestrian navigation method based on a MEMS sensor, which includes the following steps:

[0034] Step 1), fix the MEMS sensor with integrated accelerometer and gyroscope on the instep of the pedestrian's foot;

[0035] Step 2), the MEMS sensor collects the acceleration and angular acceleration information during the pedestrian movement in real time, wherein the acceleration information is collected in real time by the a...

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Abstract

The invention discloses a self-adaptive zero velocity update pedestrian navigation method based on a MEMS sensor. By analyzing gait during people multidirectional movement, based on output of the MEMSsensor under different motion modals, a zero velocity update discrimination algorithm combines with strapdown inertial navigation resolving for correcting information radiated with time of speed position resolved by correction resolution; a self-adaptive zero velocity correction model is established according to practical motion characteristic of pedestrians, and zero velocity discrimination threshold can be changed with real time. The method better solve the radiation problem of speed position of different pedestrians under different motion modals under pure inertia resolving, and self-adaptability and reliability of pedestrian navigation positioning during people multidirectional movement is increased.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to an adaptive zero-speed correction pedestrian navigation method based on MEMS sensors. 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. The existing pedestrian navigation research directions can be mainly divided into the following two categories: one is source positioning based on various wireless networks, but this type of method relies on additional equipment (such as WIFI, Bluetooth, UWB, etc.), and the positioning accuracy is greatly affected by the environment. Susceptible to interference; the second is pedestrian navigation and positioning based on MEMS sensors, with inertial devices as the core, featuring short-term high precision and high stability, and is a completely autonomous navigation system. Acc...

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Application Information

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IPC IPC(8): G01C21/16G01C23/00
CPCG01C21/16G01C23/00
Inventor 张苗殷德全熊智曾庆化许建新黄欣王钲淳徐丽敏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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