Pressure sensitive sensor assisted zero-speed detection method for individual navigation system
A technology of pressure-sensitive sensor and detection method, which is applied in the direction of navigation, instruments, and measuring devices through speed/acceleration measurement, which can solve the problems of high probability of false detection and difficulty in adapting to improve precision, accuracy and robustness Sexuality and wide application range
Pending Publication Date: 2019-03-19
TIANJIN NAVIGATION INSTR RES INST
View PDF6 Cites 1 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
The traditional method judges the zero-speed interval by outputting the angular velocity and acceleration information of the MIMU, the probability of false detection is high, and it is difficult to adapt to dynamic situations such as running and jumping.
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
[0042] The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that the embodiments are illustrative, not restrictive, and cannot limit the protection scope of the present invention.
[0043] A pressure-sensitive sensor-assisted zero-speed detection method for an individual navigation system, comprising the following steps:
[0044] 1. Set inertia detection conditions
[0045] When walking, the inertial components fixed on the feet are sensitive to changes in acceleration and angular velocity during walking, and the specific force modulus is stable near gravity at rest. The change in angular velocity of the foot tends to zero. From this, we can judge the zero-speed interval according to the output of the accelerometer and gyroscope. The specific force information f output by the accelerometer at the i-th moment i =[f xi f yi f zi ] T , the angular velocity information ω output by the ...
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 invention relates to a pressure sensitive sensor assisted zero-speed detection method for an individual navigation system. The pressure sensitive sensor assisted zero-speed detection method mainlycomprises the following steps: setting an inertial detection condition; setting a pressure-assisted detection condition; and carrying out or-operation on the inertial detection condition and the pressure-assisted detection condition to obtain a detection result. The pressure sensitive sensor assisted zero-speed detection method has the achievements that the design thought is artful, the method has innovativeness and has an important effect on improving the navigation location precision of the system, the problems of high misjudgment rate and small dynamic adaption range of an original zero-speed detection method for an individual navigation and location system for individual navigation are better solved, and the accuracy and robustness of zero-speed detection are improved.
Description
technical field [0001] The invention relates to the technical field of individual navigation and positioning systems, in particular to a pressure-sensitive sensor-assisted zero-speed detection method for the individual navigation system. Background technique [0002] The individual navigation and positioning system based on MEMS-IMU is based on the classic strapdown inertial method for navigation and positioning calculation, and its error accumulates with time, so it is necessary to use the speed output of the inertial navigation system when the carrier (foot) stops as the system speed error. The observations are corrected for other errors through Kalman filtering. The traditional method judges the zero-speed interval by outputting angular velocity and acceleration information to the MIMU. The probability of false detection is high, and it is difficult to adapt to dynamics such as running and jumping. Therefore, it is necessary to develop an improved zero-speed detection me...
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 IPC IPC(8): G01C25/00G01C21/16
CPCG01C21/16G01C25/005
Inventor 邓芳瑾李巍杨松普
Owner TIANJIN NAVIGATION INSTR RES INST