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Full-time full-course reverse smoothing filtering method for pedestrian inertial navigation

An inertial navigation and reverse smoothing technology, applied in the field of pedestrian inertial navigation, can solve the problems that the optimal estimation of the system state cannot be realized, and the estimation accuracy cannot meet the high-precision application requirements, so as to achieve the effect of improving the navigation accuracy and estimation accuracy of the whole process

Inactive Publication Date: 2019-07-02
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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Problems solved by technology

There are two main problems in the current zero-speed update algorithm: (1) The system state error can only be estimated in the periodic zero-speed state, so as to correct the system state, and it is impossible to realize a system with full time and full trajectory Optimal estimation of the state; (2) In the error estimation part, only the 3D velocity observation information at the current moment is used, and the estimation accuracy is difficult to meet the high-precision application requirements

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  • Full-time full-course reverse smoothing filtering method for pedestrian inertial navigation
  • Full-time full-course reverse smoothing filtering method for pedestrian inertial navigation
  • Full-time full-course reverse smoothing filtering method for pedestrian inertial navigation

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Embodiment Construction

[0022] A full-time full-range inverse smoothing filtering method for pedestrian inertial navigation of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0023] Because during human body movement, the motion of foot is periodical alternating between static and dynamic, so the algorithm of the present invention also is periodical, and the first period comprises (1) initial alignment; (2) positive strapdown solution; (3) ) RTS smoothing filter; (4) Reverse strapdown solution; (5) Optimal estimation of motion interval state; (6) Secondary RTS smoothing filter, a total of 6 steps. In the second cycle, the step of initial alignment is omitted. Algorithm sequence diagram of the present invention is as figure 1 shown.

[0024] (a) System initial alignment. In the pedestrian inertial navigation system, the inertial measurement unit is generally fixed on the foot, that is, the strapdown carrier is the foot, and the carrier coordi...

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Abstract

Provided in the invention is a full-time full-course reverse smoothing filtering method for pedestrian inertial navigation. After a system carries out initial alignment, strapdown solution is performed by using acceleration and angular velocity information in a motion state; after entrance of a next zero-speed interval, optimal estimation is carried out on a navigation system state error by usingan RTS smoothing algorithm in a foot landing state and a system state is corrected; with reverse strapdown solution, reverse calculation of a navigation state variable of the system is performed and calculation is carried out till a last zero-speed stationary interval; a Kalman filter is used for realizing fusion of system state information of forward strapdown solution and system state information of the reverse strapdown solution to obtain high-precision state information; and with the motion state information obtained by Kalman filter, RTS smoothing filtering is carried out again on the zero-speed interval to obtain optimal estimation of system state information.

Description

technical field [0001] The invention belongs to the field of pedestrian inertial navigation, and in particular relates to a method for reverse smoothing and filtering the state of a pedestrian inertial navigation system at all times and in the whole process by using the zero-speed period of pedestrian movement. Background technique [0002] With the rapid development of inertial devices, due to their good autonomy and strong anti-interference ability, inertial navigation systems have been widely used in environments where the global satellite navigation system (GNSS) signal is weak or completely interrupted, such as dense urban buildings, Indoor scenes and underground environments, etc. As a high-precision positioning algorithm applied in the case of pure inertial navigation, the zero-speed update algorithm is increasingly used in tunnels, vehicle navigation in underground environments, and personnel positioning in indoor environments. By exploiting the vehicle's periodic s...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 赵辉苏中李擎
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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