A Pedestrian Location Method Based on Feedback Complementary Filtering and Algebraic Approximation
A complementary filtering and pedestrian technology, applied in the field of pedestrian positioning, can solve the problem of not fully utilizing the output angular velocity drift compensation information of the three-axis gyroscope, and achieve the effect of saving power consumption, reducing the dimension of Kalman filtering, and achieving simple effects.
Active Publication Date: 2021-10-12
NORTHWESTERN POLYTECHNICAL UNIV
View PDF7 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] The problems in the traditional attitude calculation based on complementary filters include that the attitude matrix or quaternion corresponding to the pedestrian attitude needs to be orthogonalized after each calculation, and the specific force and output of the accelerometer are obtained in the traditional complementary filter. When the reference gravity on the body coordinate system determined by the attitude matrix is used to obtain the output angular velocity drift compensation of the three-axis gyroscope, the output angular velocity drift compensation information of the three-axis gyroscope at the previous moment is not fully utilized
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0039] The feedback complementary filter proposed in the present invention is based on the traditional complementary filter, adding the output angular velocity drift compensation of the three-axis gyroscope obtained by the reference gravity on the body coordinate system determined by the specific force output by the accelerometer at the previous moment and the attitude matrix As the feedback information, the attitude of the pedestrian is solved by the algebraic approximation method in the form of orthogonal calculation, and then according to the zero velocity information of the pedestrian, the velocity error and position error of the pedestrian are estimated by Kalman filtering, and the velocity and position in dead reckoning are corrected .
[0040] Such as figure 1 As shown, a pedestrian positioning method based on feedback complementary filtering an...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The present invention provides a pedestrian positioning method based on feedback complementary filtering and algebraic approximation, and relates to the field of pedestrian positioning. The present invention uses logical values to judge the static state of pedestrians, and then performs algebraic approximation attitude calculation and speed recursive update according to the logical values. and the position are recursively updated, and when the pedestrian is stationary for a long time, the algebraic approximation attitude, velocity and position are corrected before calculation. The feedback complementary filter of the present invention is used for the angular velocity drift estimation of the output of the three-axis gyroscope when the pedestrian is stationary for a long time, which is relatively Accurately estimate gyro drift; feed back the output angular velocity drift compensation amount of the three-axis gyroscope at the previous moment according to the ratio, and adjust the output angular velocity drift of the three-axis gyroscope faster; in the position estimation of pedestrians in the long-term static state, the attitude calculation and speed update and Separation of position update reduces Kalman filter dimension and calculation amount, which is beneficial to save power consumption; in a word, the present invention is simple to implement and has good portability.
Description
technical field [0001] The invention relates to the field of pedestrian positioning, in particular to a method for realizing pedestrian positioning by using an inertial sensor. Background technique [0002] Complementary filtering obtains the correction value output by the gyroscope through simple calculation, and indirectly corrects the attitude of the carrier. It is widely used in the fields of small unmanned aerial vehicles, robots, and unmanned vehicles. It is widely used in solid mechanics, fluid mechanics, attitude solving and other fields. [0003] At present, in the patent of Nanjing University of Aeronautics and Astronautics whose patent publication number is CN106123900A, complementary filtering is used to assist in realizing the magnetic heading calculation of pedestrians. In the patent No. CN105241454A of the Suzhou R&D Center of the 214th Research Institute of China Ordnance Industry Group, a magnetometer-assisted micro-electro-mechanical system (Micro-Electro-...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 任建新杨龙河芦孟兴张勤熙杨星辉
Owner NORTHWESTERN POLYTECHNICAL UNIV