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A Strapdown Height Measurement Method Based on She Model

A footstep and joint measurement technology, applied in the direction of navigation and navigation calculation tools through speed/acceleration measurement, can solve problems such as inertial channel instability, solve instability problems, reduce accumulated errors, and reduce the complexity of the method. Effect

Active Publication Date: 2021-04-13
BEIHANG UNIV
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  • Abstract
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Problems solved by technology

It can solve the instability problem of the inertial channel, reduce the cumulative error in the height direction, and improve the accuracy of height positioning when pedestrians walk indoors

Method used

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  • A Strapdown Height Measurement Method Based on She Model
  • A Strapdown Height Measurement Method Based on She Model
  • A Strapdown Height Measurement Method Based on She Model

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Embodiment Construction

[0054] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0055] figure 1 It is the overall block diagram of the strapdown altimetry method system based on the SHE model. It mainly includes three modules: a vertical movement pattern judgment module; a vertical movement pattern classification value calculation module for each step; a height calculation module based on vertical movement pattern classification. The input of the vertical motion mode judgment module is the inertia height of the stationary state of the adjacent step period, and then the motion modes are divided into three categories. According to the height difference between adjacent gait cycles calculated by the MEMS-IMU data, the classification value calculation module of each step vertical motion mode sets the motion state threshold, and then according to the characteristics of the equal interval of each stair step of the building and...

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Abstract

A stepdown height measurement method based on the SHE model of the present invention, the specific steps include: step 1: read the height of the static state in each step cycle through zero-speed detection; step 2: average the height of the zero-speed static state ;Step 3: Calculate the inertial height increment between steps; Step 4: Set the vertical motion mode classification threshold; Step 5: Determine the vertical motion mode; Step 6: Calculate the step-to-step classification height increment; Step 7: Find the current Altitude; Step 8: Update the altitude value output by the inertial device. Through the above steps, the vertical movement patterns of pedestrians are classified, and the characteristics of equal spacing of each step can be used to eliminate the instability of inertial height measurement and reduce the cumulative error, and calculate the positioning height.

Description

technical field [0001] The invention relates to the field of indoor positioning, in particular to a strapdown height measuring method based on a SHE (Step Height Equidistant) model. Specifically, it refers to the use of the characteristics of the equal spacing of the steps of the stairs. In each gait cycle, the height changes of pedestrians in different motion modes (horizontal plane, up stairs and down stairs) correspond to fixed increments respectively, and then through each gait cycle. Accumulate the increment of the vertical distance of the step to obtain the positioning height of the pedestrian. It solves the instability problem of the inertial channel, reduces the cumulative error in the height direction, and improves the accuracy of height positioning when pedestrians walk indoors. Background technique [0002] Indoor positioning technology has played an important role in the intelligent society, and has been widely used in the Internet of Things, robot services, eme...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
Inventor 夏鸣杨东凯修春娣
Owner BEIHANG UNIV