High-precision inertial navigation positioning algorithm based on motion state detection

A motion state and inertial navigation technology, applied in the field of positioning, can solve the problems of barometer increasing the cost of inertial navigation system, power consumption, drift, etc.

Active Publication Date: 2019-05-31
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, barometers are prone to drift with temperature changes, forced ventilation, and sudden changes in air pr

Method used

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  • High-precision inertial navigation positioning algorithm based on motion state detection
  • High-precision inertial navigation positioning algorithm based on motion state detection
  • High-precision inertial navigation positioning algorithm based on motion state detection

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Embodiment

[0121] Such as figure 1 As shown, this embodiment provides a high-precision inertial navigation positioning algorithm based on motion state detection. The algorithm is only based on the data collected by the accelerometer and gyroscope for positioning. Specifically:

[0122] The first step is to obtain the collected data of the accelerometer and the gyroscope, and perform preprocessing to eliminate the systematic error of the accelerometer and the gyroscope and the noise generated by pedestrian friction; wherein, the collected data includes the acceleration data of the accelerometer and The angular velocity data of the gyroscope. In this embodiment, the preprocessing of acceleration data and angular velocity data includes the following steps:

[0123] (11) Acceleration calibration: the expression of the calibrated three-axis acceleration is:

[0124]

[0125] Among them, a x 、a y 、a z are the calibrated acceleration values ​​in the directions of x, y, and z axes respec...

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Abstract

The invention discloses a high-precision inertial navigation positioning algorithm based on motion state detection. The method comprises: acquiring acquisition data of an accelerometer and a gyroscope, carrying out pretreatment to eliminate systematic errors of the accelerometer and the gyroscope and noises caused by pedestrian walking frictions; classifying pedestrian gaits to obtain a normal speed gait and a fast gait; according to the different gaits of pedestrians, carrying out offset correction on angular speed data collected by the gyroscope for each stride at any gait; on the basis of an INS and an error Kalman filter, determining a zero-speed moment of the pedestrian walking based on the different gaits of the pedestrians by using acceleration data and the angular velocity data; atthe zero-speed moment, updating pedestrian attitude, speed, and height information; and on the basis of an obtained pedestrian position coordinate, rebuilding a pedestrian 2D motion trajectory and acquiring a position height of the pedestrian at any time accurately after height update algorithm fusion, and rebuilding a 3D motion trajectory for pedestrians going up and down.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to a high-precision inertial navigation positioning algorithm based on motion state detection. Background technique [0002] Indoor navigation system refers to a system that is placed in a building to locate its own position and the position of other facilities in the building, such as parking lot vehicle positioning, medical equipment positioning, etc. In buildings indoors, due to the influence of concrete walls, etc., the navigation signal attenuates too fast, and the Global Positioning System (GPS) cannot be used. Currently, common indoor positioning technologies are divided into two categories: those that require external facilities or prior databases, and those that do not require external facilities or prior databases. Among them, infrastructure-based methods such as infrared light, ultrasound, and Ultra Wide Band (UWB) that require external facilities or prior databases ...

Claims

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Application Information

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IPC IPC(8): G01C21/20
Inventor 周军白楠
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA
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