Method and system for constructing track of pedestrian and inertial measuring device

Abstract

The invention relates to a method for constructing the track of a pedestrian. The method comprises the following steps of linearly arraying multiple miniature inertial sensors in an inertial measuringdevice, and collecting measured data when a user walks through the multiple miniature inertial sensors; setting a characteristic threshold value according to a characteristic to preprocess the measured data, and carrying out data fusion on the measured data of all the miniature inertial sensors according to a maximum reverse proportion algorithm; processing the fused data according to a four-order Runge-Kutta method, so as to obtain an attitude angle; carrying out zero-speed detection on the fused data to obtain a zero-speed interval, determining a walking direction according to the attitudeangle, and determining the track of the pedestrian according to the zero-speed interval and the walking direction. The method does not need to be assisted by other navigation systems or sensors, the high-precision track relative to a single sample-quality sensor is worked out by only utilizing multiple solutions; on the premise that the quality of a product is improved, the cost of the product isgreatly decreased. The invention also provides a system for constructing the track of the pedestrian and the inertial measuring device.

Description

technical field [0001] The invention relates to the field of positioning technology, in particular to a pedestrian trajectory construction method, system and inertial measurement device. Background technique [0002] Modern navigation technology provides many conveniences for people in today's society, and strapdown inertial navigation system (INS) is the key technology of modern navigation system. With the promotion of wearable smart sensors and the maturity of navigation technology, INS has begun to miniaturize In particular, the miniaturization of the inertial sensor unit (IMU) has become the primary goal of researchers in this field around the world. However, there are deficiencies in the development process of IMU miniaturization technology, that is, with the reduction of the size of the sensing element, its perception sensitivity continues to decrease, and at the same time, the disturbance noise also gradually increases, resulting in a decrease in the control robustnes...

AI Technical Summary

Problems solved by technology

However, the intervention of other systems and sensor information will inevitably lead to a complex and redundant IMU system structure, and the cost and data calculation efficiency will continue to increase.

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