Pedestrian seamless integrated navigation and positioning method based on inertia/zero speed/gps

Abstract

The invention discloses a pedestrian seamless combined navigation and positioning method based on inertia / zero speed / GPS. Firstly, the output characteristics of the inertial sensor under the pedestrian running gait are analyzed and strapdown calculation is carried out, and the zero speed based on the pedestrian running gait is established. The detection model improves the stability and reliability of zero-speed detection under the running state of pedestrians; at the same time, a method for screening available GPS signals based on BP neural network is proposed, which can effectively eliminate GPS interference signals with large errors and improve the reliability of GPS information. On the basis of the above technologies, the Kalman filter based on variable measurement is studied to realize the effective fusion of inertia / zero speed information / GPS information, which significantly improves the navigation and positioning accuracy of pedestrians running; this paper The invention well solves the divergence problem of velocity and position under pure inertial solution, and improves the precision and reliability of seamless integrated navigation and positioning under the pedestrian running state.

Description

technical field [0001] The invention relates to a pedestrian seamless combined navigation and positioning method based on inertia / zero speed / GPS, belonging to the technical field of personal mobile positioning. Background technique [0002] With the progress of society, there has been an upsurge in research on pedestrian navigation and positioning technology at home and abroad. At present, the more mature pedestrian navigation and positioning service systems mainly rely on GPS. For large shopping malls, underground garages, fire rescue and other application scenarios, GPS often does not work properly, which will bring inconvenience to daily life, and cause great difficulties to rescue tasks, and even lead to huge property losses and casualties. [0003] In view of the characteristics that GPS signals are susceptible to interference, the autonomous inertial positioning and navigation system based on Micro Electro Mechanical System (MEMS) emerges and develops rapidly. Among ...

AI Technical Summary

Problems solved by technology

Among them, Eric Foxlin first proposed a pedestrian navigation and positioning system with inertial sensing devices placed on the feet. The zero-speed update algorithm is used to set the speed to zero and perform zero-speed correction, which can suppress the inertial system error, but it does not meet the requirements of high-precision positioning. And the cost is high, which is not conducive to popularization and application

The Harbin Engineering University team proposed a foot-based IMU / GPS integrated navigation system that is only suitable for slow walking, and the experiment was carried out on an open playground. Although the positioning accuracy is good, the application limitations are relatively large

At the same time, in recent years, experts and scholars at home and abroad have mainly conducted relevant research on pedestrian navigation and positioning methods and zero-speed detection methods under normal walking gait of pedestrians. In the background of applications such as rescue, the human body mostly adopts a running gait; in addition, in order to solve the problems of low precision at the transition point between indoor and outdoor, and the inability to switch smoothly and automatically, the seamless integrated navigation and positioning technology for pedestrians running indoors and outdoors needs to be studied urgently

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