A Height Accuracy Improvement Method for Indoor Personal Inertial Navigation Based on Altitude Self-observation Algorithm
A technology of inertial navigation and elevation, applied in the field of pedestrian navigation, can solve problems such as technical discounts and complex measuring devices
Active Publication Date: 2021-01-01
BEIHANG UNIV
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[0006] References [2]: Pedestrian Navigation Using Pedal Inertial Sensors and LiDAR [J]. Sensors, 2016, 16(1): 120. Proposed a distance sensor (LIDAR) and inertial measurement unit (IMU) The method shows that the accuracy has been significantly improved through experiments, but the calculation device is relatively complicated, and the technical practicability is greatly reduced
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[0067] The present invention will be further described in detail below in conjunction with the accompanying drawings.
[0068] The invention discloses a method for reducing the navigation error in the altitude direction through the altitude self-observation algorithm in the indoor personal inertial navigation system, such as figure 1 As shown, the angular velocity and acceleration of the foot are detected by the inertial measurement unit installed on the foot, and the walking gait of the pedestrian is recognized by the method of fuzzy reasoning, and then according to the type of gait, the height-constrained self-observation algorithm is used to generate the pseudo-height Judgment information. The judgment information is used to correct the error in the altitude direction of the inertial navigation. Experimental results show that this method combined with the usual zero-speed correction algorithm can significantly reduce the error of inertial navigation in the direction of al...
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The invention discloses an improvement method for an indoor personal inertial navigation height precision based on a height self-observation algorithm and belongs to the technical field of pedestriannavigation. The method comprises the steps of firstly, mounting an inertial measurement unit on a foot of a pedestrian to measure an angular speed and an acceleration of the foot, and respectively inputting measurement results into a fuzzy gait identification module, an inertial navigation module and a zero speed detection module; then, generating pseudo-height information from the obtained walk state by use of a height constraint self-observation algorithm; and finally, inputting the pseudo-height information, the information of the zero speed detection module and a horizontal position obtained by the inertial navigation module and a height calculation result into a kalman filter, correcting an inertial navigation result, and taking the corrected result as a final navigation result. The method disclosed by the invention is simple and convenient, a program does not need to be corrected too much, the universality is strong, the measurement error on height is reduced and thus the navigation precision is improved.
Description
technical field [0001] The invention belongs to the technical field of pedestrian navigation, relates to inertial navigation, and specifically refers to a method for improving the elevation accuracy of indoor personal inertial navigation based on an altitude self-observation algorithm. Background technique [0002] In recent years, there has been an increasing demand for location-based services. The personal integrated navigation system has become a research hotspot in the current navigation field because it can provide more accurate positioning, monitor the position changes of pedestrians in real time, and provide visual navigation information for pedestrians, so that they can effectively guide people's activities in unfamiliar environments. one. [0003] Although inertial navigation has strong autonomy, the performance of micro-inertial devices still has a certain gap compared with traditional inertial devices. Inertial devices are also affected by uncertain factors such ...
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/206
Inventor 李保国张博李淑影
Owner BEIHANG UNIV