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Indoor-based walking microinertia autonomous navigation method

An autonomous navigation and micro-inertial technology, applied in the field of inertial navigation, can solve the problems of large errors of micro-inertial devices and unfavorable equipment autonomy, etc., and achieve the effect of suppressing the accumulation of heading errors, suppressing the divergence of positioning errors, and improving the positioning accuracy

Active Publication Date: 2019-03-26
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0002] In pedestrian micro-inertial navigation equipment, due to the large error of micro-inertial devices, some other navigation systems or sensors are usually used to form an integrated navigation system application, such as satellite navigation, wireless local area network, ultra-bandwidth positioning, etc., but these auxiliary technologies may be difficult Normal work indoors requires additional hardware infrastructure layout, or increases its own hardware facilities, which is not conducive to maintaining the autonomy of the device

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[0024] In order to further illustrate the technical means and effects adopted by the present invention, a detailed description will be given below in conjunction with the preferred implementation of the present invention and the accompanying drawings.

[0025] A micro-inertial autonomous navigation method based on indoor walking, including seven steps, specifically as follows:

[0026] Step 1. Initial alignment;

[0027] A known method is used for initial alignment to obtain an initial navigation state with high precision.

[0028] Step 2, calculating heading deviation and position deviation;

[0029] After the initial alignment is complete, walk along a straight line n 1 step, during which the inertial navigation calculation assisted by zero-speed correction is carried out, and the sliding calculation of the nearest n 2 Step heading deviation δψ i (i=1,2...a) and the lateral position deviation δP relative to the straight path i (i=1,2...a), where n 1 =n 2 +a-1,n 2 ≥3,...

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Abstract

The invention belongs to the technical field of inertia navigation, and particularly relates to an indoor-based walking microinertia autonomous navigation method. The method comprises the following seven steps: 1, initially aligning; 2, calculating course deviation and position deviation; 3, averaging the deviations; 4, acquiring and calculating current position; 5, determining whether straight walking is met or not; 6, redetermining (1); 7, redetermining (2); and 8, updating. According to the method, the characteristic of relative regular indoor form is utilized, virtual course error observation provided to microinertia navigation by determining the walking track situation, accumulation of course error is inhibited, and the aim of inhibiting position error divergence is achieved. The walking microinertia navigation equipment does not need combination with other information, addition of equipment hardware or support of infrastructure, and can improve the position precision of walking microinertia autonomous navigation equipment can be improved while the microinertia navigation autonomy.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to a micro-inertial autonomous navigation method based on indoor walking. Background technique [0002] In pedestrian micro-inertial navigation equipment, due to the large error of micro-inertial devices, some other navigation systems or sensors are usually used to form an integrated navigation system application, such as satellite navigation, wireless local area network, ultra-bandwidth positioning, etc., but these auxiliary technologies may be difficult Normal work indoors requires additional hardware infrastructure layout, or adding its own hardware facilities, which is not conducive to maintaining the autonomy of the device. In the present invention, by utilizing the characteristics of relatively regular indoor terrain, virtual heading error observations are provided for micro-inertial navigation by judging the walking trajectory, without combining with other informa...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/206
Inventor 马涛李永锋朱红王根郭元江
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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