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Method and system for indoor movement measurement, positioning and attitude determination method and system based on foot inertial sensors

An inertial sensor, mobile measurement technology, applied in measurement devices, navigation through velocity/acceleration measurement, instruments, etc., to achieve the effect of solving position errors and solving high costs

Active Publication Date: 2019-09-20
WUHAN UNIV
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Problems solved by technology

[0004] The present invention aims to solve or at least partly solve the above-mentioned technical problems existing in the existing indoor mobile measurement, positioning and posture determination

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  • Method and system for indoor movement measurement, positioning and attitude determination method and system based on foot inertial sensors
  • Method and system for indoor movement measurement, positioning and attitude determination method and system based on foot inertial sensors

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Embodiment Construction

[0029] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be further described in detail below in conjunction with preferred embodiments and drawings. The accompanying drawings in the following description are only some specific implementations of the embodiments of the present invention, to illustrate the principles of implementing the embodiments of the present invention. Those skilled in the art should understand that the content described below is illustrative rather than restrictive, and other implementation manners can be obtained based on these descriptions, which should not limit the protection scope of the present invention.

[0030] Such as figure 1 As shown, an embodiment of the present invention provides an indoor pedestrian movement measurement, positioning and attitude determination method based on foot-mounted inertial sensors, including the f...

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Abstract

The invention provides a method and a system for indoor movement measurement, positioning and attitude determination method and system based on foot inertial sensors. The method comprises the steps of: installing a first inertial sensor at the position of an operator's foot heel, installing a second inertial sensor at the position of the operator's back, and performing time synchronization; resolving the position, the speed and the attitude angle information of the first inertial sensor; extracting position information of the first inertial sensor at the middle moment of a static period according to the condition that the relative positions of the back and the foot of a pedestrian are unchanged at the middle moment of the static period in the process of upright walking; and combining the data of the inertial sensor acquired by the second inertial sensor, constructing a mathematical model of the pedestrian movement measurement positioning and attitude determination system, performing resolving to obtain the position, speed and attitude angle information of the back of the pedestrian, and providing accurate position and attitude angle information for the indoor pedestrian movement measurement system. The method and the system for indoor movement measurement, positioning and attitude determination method and system based on foot inertial sensors can achieve the indoor movement measurement positioning and attitude determination with high precision, high efficiency, low cost and simple operation.

Description

Technical field [0001] The invention relates to the field of indoor mobile measurement, in particular to a technical solution for indoor pedestrian mobile measurement, positioning and attitude determination based on foot-mounted inertial sensors. Background technique [0002] Mobile Mapping System (MMS) is to install navigation and positioning system, video system, inertial navigation system and other sensors and equipment on the mobile carrier to quickly and efficiently obtain the spatial location data and attribute data of the buildings on both sides of the road. Used in military, survey, road management, 3D reconstruction and other fields. In the MMS system, the position and attitude accuracy of the mobile carrier are important indicators to measure the accuracy and reliability of the entire system. [0003] In an outdoor environment, an integrated navigation system consisting of Global Navigation Satellite System (GNSS), odometer and Inertial Navigation System (INS) can provid...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/206Y02D30/70
Inventor 牛小骥旷俭刘韬李雨
Owner WUHAN UNIV
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