Inertial pedestrian positioning method based on self adaptive zero-velocity interval adjustment

Abstract

The invention discloses an inertial pedestrian positioning method based on self adaptive zero-velocity interval adjustment, and belongs to the pedestrian positioning technical field relying on an inertial navigation system. An inertial device is fixed on a foot part of a pedestrian, positioning information of the pedestrian is calculated in real time according to the measured acceleration speed and angular velocity, at the same time, a self adaptive sliding window detection method is designed by combination of an acceleration speed and angle acceleration speed amplitude detection algorithm, the zero-velocity detection window length is self-adaptively adjusted in the system calculating process, and the zero-velocity detection accuracy is improved. The zero-velocity correction algorithm is used for compensating the pedestrian posture information in a zero-velocity interval, and the compensated posture information is taken as final positioning information and is outputted. The applicability of the inertial pedestrian positioning system at arbitrary motion speed is enhanced, the problem of insufficient error compensation caused by the change of pedestrian movement speed is reduced, positioning accuracy can be improved without any external auxiliary information, the calculation quantity is small, and the method is simple and easy to operate.

Description

technical field [0001] The invention belongs to the technical field of pedestrian positioning based on an inertial navigation system, and in particular relates to an inertial pedestrian positioning method based on adaptive zero-speed interval adjustment. Background technique [0002] At present, the most common pedestrian positioning system is the Global Positioning System (Global Positioning System, GPS). However, in environments such as high-rise streets and relatively closed indoor environments, pedestrians cannot normally receive GPS signals, and thus cannot be located. The inertial navigation system (INS, hereinafter referred to as inertial navigation system) is an autonomous navigation system that does not rely on external information and does not radiate energy outward, and is suitable for complex and changeable pedestrian movement environments. It is precisely because of the rapid development of micro-inertial sensors, which have the advantages of small size, light w...

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Problems solved by technology

Harbin Engineering University wrote "MIMU/GPS/Magnetometer Individual System Integrated Navigation Technology Research" written by Liu Fengli in 2013. This article proposed a zero-speed correction technology based on the hidden Markov model, which uses the output data of the gyroscope. Zero-speed detection, to a certain extent, improves the applicability of the zero-speed correction algorithm when moving fast, but at the same time causes the positioning accuracy of the pedestrian positioning system to decrease when moving slowly

The above literatures are all about adaptively a

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