Zero-speed detection method based on hidden Markov model and indoor pedestrian inertial navigation system

A detection method, Hidden Markov technology, applied in the field of navigation, can solve the problems of accumulated drift error and insufficient long-term navigation accuracy, and achieve the effect of avoiding false detection and missing detection

Inactive Publication Date: 2019-06-14
SHANDONG JIANZHU UNIV
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Problems solved by technology

It can be seen that at present, the algorithm research in the field of inertial pedestrian navigation at home and abroad mainly focuses on two aspects, one is the detection of the support phase in the gait cycle, and the other is the realization of zero-velocity correction in the support phase, but for the drift of the existing technology There is no corresponding solution to the problems of error accumulation and long-term lack of navigation accuracy

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  • Zero-speed detection method based on hidden Markov model and indoor pedestrian inertial navigation system
  • Zero-speed detection method based on hidden Markov model and indoor pedestrian inertial navigation system
  • Zero-speed detection method based on hidden Markov model and indoor pedestrian inertial navigation system

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[0028] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0029] It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0030] Implementation example one

[0031] 1) The implementation example of this disclosure discloses a zero-speed detection m...

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Abstract

The invention provides a zero-speed detection method based on a hidden Markov model and an indoor pedestrian inertial navigation system. The method comprises the steps of carrying out periodic division on a gait of a human body; obtaining acceleration data, triaxial angular velocity data and triaxial magnetic force intensity of three axes in a walking process of a pedestrian; defining a state value and an observation value of the gait of the human body, initializing a state transition probability matrix, and abstracting zero-speed detection of the pedestrian in the walking process into the hidden Markov model; and optimizing the hidden Markov model by a zero-speed correction algorithm based on a Kalman filter, detecting the angular velocity of the pedestrian in a standing stage to be a zero moment, and predicting a state of the pedestrian at the next stage of walking exercise. According to a zero-speed detection algorithm provided by the technical scheme, the hidden Markov model is adopted, and the walking cycle of the human body is accurately divided, so that the situations of false detection and missing detection are avoided. Optimal estimation is carried out on a system state byusing the zero-speed correction algorithm based on the Kalman filter.

Description

technical field [0001] The present disclosure relates to the technical field of navigation, in particular to a zero-speed detection method based on a hidden Markov model and an indoor pedestrian inertial navigation system. Background technique [0002] High-precision navigation systems are becoming more and more important, and navigation has become a favorable tool for people to travel. People with the help of navigation tools can enjoy a large number of location-based services in the mobile media cloud without difficulty. Among them, GPS plays a key role in outdoor navigation and positioning, but it has a disadvantage that GPS signals cannot penetrate buildings, resulting in poor accuracy and low accuracy of indoor navigation, so that indoor pedestrians based on MEMS (micro-electromechanical system) technology Inertial Navigation System (PINS) has received extensive attention in recent years. PINS has many advantages, such as small size, low cost, good concealment performa...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/18G01C25/00
Inventor 田娅陈哲秦瑶
Owner SHANDONG JIANZHU UNIV
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