MEMS pedestrian navigation method based on ZIHR heading angle correction algorithm

A pedestrian navigation and correction algorithm technology, applied in the field of pedestrian navigation, can solve the problems that the heading error angle cannot be well corrected, the heading error angle is poorly observable, and cannot be estimated, so as to suppress the divergence of navigation parameter errors and curb the heading The effect of divergence of error angle and reduction of model error

Inactive Publication Date: 2018-08-21
HARBIN ENG UNIV
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Problems solved by technology

[0010] When using the Kalman filter for zero-speed correction, although the speed error and horizontal attitude angle error can be suppressed, the heading error angle still cannot be well corrected
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  • MEMS pedestrian navigation method based on ZIHR heading angle correction algorithm
  • MEMS pedestrian navigation method based on ZIHR heading angle correction algorithm
  • MEMS pedestrian navigation method based on ZIHR heading angle correction algorithm

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[0076] The following examples describe the present invention in more detail:

[0077] like figure 1 As shown, when the MEMS inertial navigation system is initially aligned, the output values ​​of the gyroscope and accelerometer are collected using the data collection software matched with the MEMS. On the one hand, the data of the gyroscope and the accelerometer are used for inertial navigation calculation, and on the other hand, the zero-speed detection solution is performed. When zero speed is not detected, the UKF filter only performs time update, and when zero speed is detected, it will trigger ZIHR correction and zero speed correction for measurement update. The position error, velocity error, attitude error, gyro constant value drift and accelerometer zero bias estimated by the UKF filter are corrected into the MEMS inertial navigation calculation unit through feedback.

[0078] The application of the heading angle correction algorithm based on ZIHR in MEMS pedestrian ...

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Abstract

The invention provides an MEMS pedestrian navigation method based on ZIHR heading angle correction algorithm. The method includes: 1. conducting initial alignment on an MEMS pedestrian navigation system with an accelerometer and a magnetometer at a static moment; 2. working out an inertial navigation calculation equation and an error equation of the MEMS pedestrian navigation system; 3. conductingzero velocity state detection with the output values of a gyroscope and the accelerometer; 4. working out the relationship between the heading angle difference of adjacent moments under a zero velocity state, gyroscopic drift and a heading error angle in ZIHR (zero integrated heading rate) correction algorithm; and 5. establishing a simplified MEMS pedestrian navigation UKF filter model, and performing UKF filtering. The method provided by the invention maximumly utilizes the information of static moment, has uncomplicated calculation amount, and can well inhibit the divergence of the headingerror angle. Use of the UKF filter for real-time feedback correction at a zero velocity moment can well inhibit the problem of navigation parameter error divergence after long-time operation of a low-precision MEMS sensor, and improve the positioning precision of a pedestrian navigation system.

Description

technical field [0001] The invention relates to a pedestrian navigation method, in particular to a pedestrian navigation method of inertial navigation technology. Background technique [0002] Pedestrian navigation system is an important branch in the field of navigation and positioning technology, which can provide reliable safety guarantee for high-risk workers engaged in fire fighting and emergency rescue. The core of traditional pedestrian navigation is GPS, but it is difficult to play a role when GPS is located in urban high-rise buildings and dense vegetation. The pedestrian positioning system with MEMS inertial sensor as the core does not need to consider the above problems. Because MEMS inertial sensors have the advantages of small size, low cost, light weight, etc., the research on pedestrian navigation with MEMS sensors has become a hot spot. Non-GPS people tracking systems typically use gyroscopes to estimate the user's heading change. Gyroscopes measure the ra...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 周广涛王晴晴蒋弘威高远刘远恒张滋孟佳帅刘新徐庚
Owner HARBIN ENG UNIV
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